ctrl_module_outerloop_demo.c File Reference

example empty controller More...

#include "modules/ctrl/ctrl_module_outerloop_demo.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "autopilot.h"

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Data Structures
struct	ctrl_module_demo_struct

Functions
void	ctrl_module_init (void)
void	guidance_module_enter (void)
void	guidance_module_run (bool in_flight)

Variables
struct ctrl_module_demo_struct	ctrl
float	comode_time = 0

Detailed Description

example empty controller

Implements an example simple horizontal outerloop controller in a module.

Definition in file ctrl_module_outerloop_demo.c.

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Data Structure Documentation

ctrl_module_demo_struct

struct ctrl_module_demo_struct

Definition at line 33 of file ctrl_module_innerloop_demo.c.

Collaboration diagram for ctrl_module_demo_struct:

Data Fields
struct Int32Eulers	cmd
struct AttitudeRCInput	rc_sp
int	rc_t
int	rc_x
int	rc_y
int	rc_z

Function Documentation

ctrl_module_init()

void ctrl_module_init

(

void

)

Definition at line 55 of file ctrl_module_outerloop_demo.c.

References ctrl, ctrl_module_demo_struct::rc_sp, and stabilization_attitude_rc_setpoint_init().

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guidance_module_enter()

void guidance_module_enter

(

void

)

Definition at line 60 of file ctrl_module_outerloop_demo.c.

References autopilot_in_flight(), ctrl_module_demo_struct::cmd, ctrl, guidance_v_mode_changed(), GUIDANCE_V_MODE_HOVER, Int32Eulers::psi, radio_control, ctrl_module_demo_struct::rc_sp, stabilization_attitude_read_rc_setpoint_eulers(), and stateGetNedToBodyEulers_i().

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guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Definition at line 72 of file ctrl_module_outerloop_demo.c.

References ANGLE_BFP_OF_REAL, autopilot_in_flight(), Stabilization::cmd, ctrl_module_demo_struct::cmd, ctrl, foo, guidance_v_run(), Int32Eulers::phi, radio_control, ctrl_module_demo_struct::rc_sp, StabilizationSetpoint::sp, ThrustSetpoint::sp, stab_sp_from_eulers_i(), stabilization, stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_run(), and Int32Eulers::theta.

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Variable Documentation

comode_time

float comode_time = 0

Definition at line 50 of file ctrl_module_outerloop_demo.c.

ctrl

struct ctrl_module_demo_struct ctrl

Referenced by ctrl_module_init(), guidance_module_enter(), and guidance_module_run().