Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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ctrl_module_innerloop_demo.h
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1 /*
2  * Copyright (C) 2015
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef CTRL_MODULE_INNERLOOP_DEMO_H_
29 #define CTRL_MODULE_INNERLOOP_DEMO_H_
30 
31 #include <std.h>
32 
33 // Settings
34 extern float ctrl_module_demo_pr_ff_gain; // Pitch/Roll
35 extern float ctrl_module_demo_pr_d_gain;
36 extern float ctrl_module_demo_y_ff_gain; // Yaw
37 extern float ctrl_module_demo_y_d_gain;
38 
39 
40 // Demo with own guidance_h
41 #define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_MODULE
42 
43 // and own guidance_v
44 #define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE
45 
46 // Implement own Horizontal loops
47 extern void guidance_h_module_init(void);
48 extern void guidance_h_module_enter(void);
49 extern void guidance_h_module_read_rc(void);
50 extern void guidance_h_module_run(bool in_flight);
51 
52 // Implement own Vertical loops
53 extern void guidance_v_module_init(void);
54 extern void guidance_v_module_enter(void);
55 extern void guidance_v_module_run(bool in_flight);
56 
57 #endif /* CTRL_MODULE_INNERLOOP_DEMO_H_ */
float ctrl_module_demo_pr_d_gain
float ctrl_module_demo_y_d_gain
void guidance_h_module_enter(void)
Entering the horizontal module (user switched to module)
void guidance_h_module_init(void)
Initialization of horizontal guidance module.
void guidance_h_module_read_rc(void)
Read the RC commands.
float ctrl_module_demo_pr_ff_gain
void guidance_v_module_enter(void)
Entering the vertical module (user switched to module)
float ctrl_module_demo_y_ff_gain
void guidance_v_module_run(bool in_flight)
void guidance_v_module_init(void)
void guidance_h_module_run(bool in_flight)
Main guidance loop.