Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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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"
Go to the source code of this file.
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 |
example empty controller
Implements an example simple horizontal outerloop controller in a module.
Definition in file ctrl_module_outerloop_demo.c.
struct ctrl_module_demo_struct |
Definition at line 33 of file ctrl_module_innerloop_demo.c.
Data Fields | ||
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struct Int32Eulers | cmd | |
struct AttitudeRCInput | rc_sp | |
int | rc_t | |
int | rc_x | |
int | rc_y | |
int | rc_z |
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().
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().
void guidance_module_run | ( | bool | in_flight | ) |
Definition at line 72 of file ctrl_module_outerloop_demo.c.
float comode_time = 0 |
Definition at line 50 of file ctrl_module_outerloop_demo.c.
struct ctrl_module_demo_struct ctrl |
Referenced by ctrl_module_init(), and guidance_module_enter().