Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Macros | Variables
energy_ctrl.h File Reference

Vertical control using total energy control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/guidance_common.h"
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Go to the source code of this file.

Macros

#define V_CTL_SPEED_THROTTLE   0
 
#define V_CTL_SPEED_AIRSPEED   1
 
#define V_CTL_SPEED_GROUNDSPEED   2
 

Variables

uint8_t v_ctl_speed_mode
 
float v_ctl_altitude_setpoint
 in meters above MSL More...
 
float v_ctl_altitude_pre_climb
 Path Angle. More...
 
float v_ctl_altitude_pgain
 
float v_ctl_airspeed_pgain
 
float v_ctl_auto_airspeed_setpoint
 in meters per second More...
 
float v_ctl_max_climb
 
float v_ctl_max_acceleration
 
float v_ctl_desired_acceleration
 
float v_ctl_auto_throttle_nominal_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_pitch
 
float v_ctl_auto_throttle_climb_throttle_increment
 
float v_ctl_auto_throttle_pitch_of_vz_pgain
 
float v_ctl_auto_throttle_of_airspeed_pgain
 
float v_ctl_auto_throttle_of_airspeed_igain
 
float v_ctl_auto_pitch_of_airspeed_pgain
 
float v_ctl_auto_pitch_of_airspeed_igain
 
float v_ctl_auto_pitch_of_airspeed_dgain
 
float v_ctl_energy_total_pgain
 
float v_ctl_energy_total_igain
 
float v_ctl_energy_diff_pgain
 
float v_ctl_energy_diff_igain
 
float v_ctl_auto_groundspeed_pgain
 
float v_ctl_auto_groundspeed_igain
 
float v_ctl_auto_groundspeed_sum_err
 
float ac_char_climb_pitch
 
float ac_char_climb_max
 
float ac_char_descend_pitch
 
float ac_char_descend_max
 
float ac_char_cruise_throttle
 
float ac_char_cruise_pitch
 

Detailed Description

Vertical control using total energy control for fixed wing vehicles.

Definition in file energy_ctrl.h.

Macro Definition Documentation

◆ V_CTL_SPEED_AIRSPEED

#define V_CTL_SPEED_AIRSPEED   1

Definition at line 37 of file energy_ctrl.h.

◆ V_CTL_SPEED_GROUNDSPEED

#define V_CTL_SPEED_GROUNDSPEED   2

Definition at line 38 of file energy_ctrl.h.

◆ V_CTL_SPEED_THROTTLE

#define V_CTL_SPEED_THROTTLE   0

Definition at line 36 of file energy_ctrl.h.

Variable Documentation

◆ ac_char_climb_max

float ac_char_climb_max
extern

Definition at line 168 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ ac_char_climb_pitch

float ac_char_climb_pitch
extern

Definition at line 167 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ ac_char_cruise_pitch

float ac_char_cruise_pitch
extern

Definition at line 174 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ ac_char_cruise_throttle

float ac_char_cruise_throttle
extern

Definition at line 173 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ ac_char_descend_max

float ac_char_descend_max
extern

Definition at line 171 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ ac_char_descend_pitch

float ac_char_descend_pitch
extern

Definition at line 170 of file energy_ctrl.c.

Referenced by ac_char_update().

◆ v_ctl_airspeed_pgain

float v_ctl_airspeed_pgain
extern

Definition at line 91 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_altitude_pgain

float v_ctl_altitude_pgain
extern

Definition at line 90 of file energy_ctrl.c.

◆ v_ctl_altitude_pre_climb

float v_ctl_altitude_pre_climb
extern

Path Angle.

Definition at line 89 of file energy_ctrl.c.

◆ v_ctl_altitude_setpoint

float v_ctl_altitude_setpoint
extern

in meters above MSL

Definition at line 88 of file energy_ctrl.c.

◆ v_ctl_auto_airspeed_setpoint

float v_ctl_auto_airspeed_setpoint
extern

in meters per second

Definition at line 121 of file energy_ctrl.c.

Referenced by flight_benchmark_periodic(), gls_run(), send_airspeed(), send_desired(), v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_groundspeed_igain

float v_ctl_auto_groundspeed_igain
extern

Definition at line 127 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_groundspeed_pgain

float v_ctl_auto_groundspeed_pgain
extern

Definition at line 126 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_groundspeed_sum_err

float v_ctl_auto_groundspeed_sum_err
extern

Definition at line 128 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_pitch_of_airspeed_dgain

float v_ctl_auto_pitch_of_airspeed_dgain
extern

Definition at line 113 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_pitch_of_airspeed_igain

float v_ctl_auto_pitch_of_airspeed_igain
extern

Definition at line 112 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_pitch_of_airspeed_pgain

float v_ctl_auto_pitch_of_airspeed_pgain
extern

Definition at line 111 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_climb_throttle_increment

float v_ctl_auto_throttle_climb_throttle_increment
extern

Definition at line 106 of file energy_ctrl.c.

◆ v_ctl_auto_throttle_nominal_cruise_pitch

float v_ctl_auto_throttle_nominal_cruise_pitch
extern

Definition at line 105 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_nominal_cruise_throttle

float v_ctl_auto_throttle_nominal_cruise_throttle
extern

Definition at line 104 of file energy_ctrl.c.

◆ v_ctl_auto_throttle_of_airspeed_igain

float v_ctl_auto_throttle_of_airspeed_igain
extern

Definition at line 110 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_of_airspeed_pgain

float v_ctl_auto_throttle_of_airspeed_pgain
extern

Definition at line 109 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_pitch_of_vz_pgain

float v_ctl_auto_throttle_pitch_of_vz_pgain
extern

Definition at line 107 of file energy_ctrl.c.

◆ v_ctl_desired_acceleration

float v_ctl_desired_acceleration
extern

Definition at line 101 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

◆ v_ctl_energy_diff_igain

float v_ctl_energy_diff_igain
extern

Definition at line 119 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_energy_diff_pgain

float v_ctl_energy_diff_pgain
extern

Definition at line 118 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_energy_total_igain

float v_ctl_energy_total_igain
extern

Definition at line 116 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_energy_total_pgain

float v_ctl_energy_total_pgain
extern

Definition at line 115 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_max_acceleration

float v_ctl_max_acceleration
extern

Definition at line 95 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_max_climb

float v_ctl_max_climb
extern

Definition at line 94 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

◆ v_ctl_speed_mode

uint8_t v_ctl_speed_mode
extern

Definition at line 135 of file energy_ctrl.c.