Paparazzi UAS  v5.15_devel-81-gd13dafb
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energy_ctrl.h
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2  * Copyright (C) 2012 TUDelft, Tobias Muench
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21 
28 #ifndef FW_V_CTL_ENERGY_H
29 #define FW_V_CTL_ENERGY_H
30 
32 
33 //To be unified with control NEW, these can be used in a unified flightplan
34 //but ETECS has no use of it ofcourse, speed mode always V_CTL_SPEED_AIRSPEED
35 //FIXME An idea to move it to guidance_common
36 #define V_CTL_SPEED_THROTTLE 0
37 #define V_CTL_SPEED_AIRSPEED 1
38 #define V_CTL_SPEED_GROUNDSPEED 2
39 
41 
42 /* outer loop */
43 // extern float v_ctl_altitude_error; ///< in meters, (setpoint - alt) -> positive = too low
44 extern float v_ctl_altitude_setpoint;
45 extern float v_ctl_altitude_pre_climb;
46 extern float v_ctl_altitude_pgain;
47 extern float v_ctl_airspeed_pgain;
48 
49 extern float v_ctl_auto_airspeed_setpoint;
50 
51 extern float v_ctl_max_climb;
52 extern float v_ctl_max_acceleration;
53 
54 /* "auto throttle" inner loop parameters */
55 extern float v_ctl_desired_acceleration;
56 
61 
67 
68 extern float v_ctl_energy_total_pgain;
69 extern float v_ctl_energy_total_igain;
70 
71 extern float v_ctl_energy_diff_pgain;
72 extern float v_ctl_energy_diff_igain;
73 
74 extern float v_ctl_auto_groundspeed_pgain;
75 extern float v_ctl_auto_groundspeed_igain;
77 
79 // Automatically found airplane characteristics
80 
81 extern float ac_char_climb_pitch;
82 extern float ac_char_climb_max;
83 extern float ac_char_descend_pitch;
84 extern float ac_char_descend_max;
85 extern float ac_char_cruise_throttle;
86 extern float ac_char_cruise_pitch;
87 
88 #endif /* FW_V_CTL_H */
float v_ctl_auto_groundspeed_sum_err
Definition: energy_ctrl.c:128
float ac_char_cruise_throttle
Definition: energy_ctrl.c:176
float ac_char_descend_pitch
Definition: energy_ctrl.c:173
float v_ctl_auto_groundspeed_pgain
Definition: energy_ctrl.c:126
uint8_t v_ctl_speed_mode
Definition: energy_ctrl.c:135
float ac_char_cruise_pitch
Definition: energy_ctrl.c:177
float v_ctl_altitude_setpoint
in meters above MSL
Definition: energy_ctrl.c:88
float v_ctl_auto_throttle_pitch_of_vz_pgain
Definition: energy_ctrl.c:107
float v_ctl_energy_total_pgain
Definition: energy_ctrl.c:115
float v_ctl_altitude_pgain
Definition: energy_ctrl.c:90
float v_ctl_auto_throttle_nominal_cruise_pitch
Definition: energy_ctrl.c:105
float v_ctl_altitude_pre_climb
Path Angle.
Definition: energy_ctrl.c:89
Vertical control for fixed wing vehicles.
float v_ctl_energy_total_igain
Definition: energy_ctrl.c:116
float v_ctl_auto_throttle_of_airspeed_pgain
Definition: energy_ctrl.c:109
float ac_char_descend_max
Definition: energy_ctrl.c:174
float v_ctl_energy_diff_pgain
Definition: energy_ctrl.c:118
float v_ctl_airspeed_pgain
Definition: energy_ctrl.c:91
float v_ctl_auto_throttle_nominal_cruise_throttle
Definition: energy_ctrl.c:104
float v_ctl_energy_diff_igain
Definition: energy_ctrl.c:119
unsigned char uint8_t
Definition: types.h:14
float v_ctl_auto_pitch_of_airspeed_igain
Definition: energy_ctrl.c:112
float v_ctl_max_acceleration
Definition: energy_ctrl.c:95
float v_ctl_desired_acceleration
Definition: energy_ctrl.c:101
float v_ctl_auto_pitch_of_airspeed_pgain
Definition: energy_ctrl.c:111
float v_ctl_auto_throttle_climb_throttle_increment
Definition: energy_ctrl.c:106
float v_ctl_max_climb
Definition: energy_ctrl.c:94
float ac_char_climb_max
Definition: energy_ctrl.c:171
float v_ctl_auto_pitch_of_airspeed_dgain
Definition: energy_ctrl.c:113
float v_ctl_auto_groundspeed_igain
Definition: energy_ctrl.c:127
float v_ctl_auto_airspeed_setpoint
in meters per second
Definition: energy_ctrl.c:121
float ac_char_climb_pitch
Definition: energy_ctrl.c:170
float v_ctl_auto_throttle_of_airspeed_igain
Definition: energy_ctrl.c:110