Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Macros | Functions | Variables
guidance_v.c File Reference

Vertical control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/airframe.h"
#include "autopilot.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
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Go to the source code of this file.

Macros

#define V_CTL_AUTO_THROTTLE_DGAIN   0.
 
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   150
 
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   100
 
#define V_CTL_PITCH_TRIM   0.
 
#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION   1.0f
 
#define V_CTL_THROTTLE_SLEW   1.
 auto pitch inner loop More...
 

Functions

static void v_ctl_climb_auto_throttle_loop (void)
 auto throttle inner loop More...
 
void v_ctl_init (void)
 
void v_ctl_guidance_loop (void)
 General guidance logic This will call the proper control loops according to the sub-modes. More...
 
void v_ctl_altitude_loop (void)
 outer loop More...
 
void v_ctl_climb_loop (void)
 Auto-throttle inner loop. More...
 
void v_ctl_landing_loop (void)
 
void v_ctl_throttle_slew (void)
 Computes slewed throttle from throttle setpoint called at 20Hz. More...
 

Variables

uint8_t v_ctl_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_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
float v_ctl_altitude_pre_climb_correction
 
float v_ctl_altitude_max_climb
 
float v_ctl_climb_setpoint
 
uint8_t v_ctl_climb_mode
 
uint8_t v_ctl_auto_throttle_submode
 
float v_ctl_auto_throttle_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_throttle
 
float v_ctl_auto_throttle_min_cruise_throttle
 
float v_ctl_auto_throttle_max_cruise_throttle
 
float v_ctl_auto_throttle_climb_throttle_increment
 
float v_ctl_auto_throttle_pgain
 
float v_ctl_auto_throttle_igain
 
float v_ctl_auto_throttle_dgain
 
float v_ctl_auto_throttle_sum_err
 
float v_ctl_auto_throttle_pitch_of_vz_pgain
 
float v_ctl_auto_throttle_pitch_of_vz_dgain
 
float v_ctl_auto_pitch_pgain
 
float v_ctl_auto_pitch_igain
 
float v_ctl_auto_pitch_sum_err
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 
float v_ctl_pitch_setpoint
 
float v_ctl_pitch_trim
 

Detailed Description

Vertical control for fixed wing vehicles.

Definition in file guidance_v.c.

Macro Definition Documentation

◆ V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION

#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION   1.0f

Definition at line 119 of file guidance_v.c.

◆ V_CTL_AUTO_PITCH_MAX_SUM_ERR

#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   100

Definition at line 87 of file guidance_v.c.

◆ V_CTL_AUTO_THROTTLE_DGAIN

#define V_CTL_AUTO_THROTTLE_DGAIN   0.

Definition at line 52 of file guidance_v.c.

◆ V_CTL_AUTO_THROTTLE_MAX_SUM_ERR

#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   150

Definition at line 65 of file guidance_v.c.

◆ V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN

#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.

Definition at line 70 of file guidance_v.c.

◆ V_CTL_PITCH_TRIM

#define V_CTL_PITCH_TRIM   0.

Definition at line 93 of file guidance_v.c.

◆ V_CTL_THROTTLE_SLEW

#define V_CTL_THROTTLE_SLEW   1.

auto pitch inner loop

computes a v_ctl_pitch_setpoint from a climb_setpoint given a fixed throttle

Definition at line 548 of file guidance_v.c.

Function Documentation

◆ v_ctl_altitude_loop()

void v_ctl_altitude_loop ( void  )

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 308 of file guidance_v.c.

References UtmCoor_f::alt, stateGetPositionUtm_f(), v_ctl_altitude_error, v_ctl_altitude_max_climb, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_pre_climb_correction, v_ctl_altitude_setpoint, V_CTL_AUTO_THROTTLE_AGRESSIVE, V_CTL_AUTO_THROTTLE_BLENDED, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_THROTTLE, and v_ctl_climb_setpoint.

Referenced by v_ctl_guidance_loop().

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◆ v_ctl_climb_auto_throttle_loop()

static void v_ctl_climb_auto_throttle_loop ( void  )
inlinestatic

auto throttle inner loop

Definition at line 409 of file guidance_v.c.

References controlled_throttle, MAX_PPRZ, nav_pitch, stateGetSpeedEnu_f(), TRIM_UPPRZ, v_ctl_altitude_error, V_CTL_AUTO_THROTTLE_AGRESSIVE, V_CTL_AUTO_THROTTLE_BLENDED, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_dgain, v_ctl_auto_throttle_igain, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR, v_ctl_auto_throttle_pgain, v_ctl_auto_throttle_pitch_of_vz_dgain, v_ctl_auto_throttle_pitch_of_vz_pgain, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_auto_throttle_sum_err, v_ctl_climb_setpoint, v_ctl_pitch_setpoint, v_ctl_pitch_trim, v_ctl_throttle_setpoint, and EnuCoor_f::z.

Referenced by v_ctl_climb_loop().

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◆ v_ctl_climb_loop()

void v_ctl_climb_loop ( void  )

Auto-throttle inner loop.

Definition at line 341 of file guidance_v.c.

References v_ctl_climb_auto_throttle_loop(), v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_PITCH, and V_CTL_CLIMB_MODE_AUTO_THROTTLE.

Referenced by v_ctl_guidance_loop().

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◆ v_ctl_guidance_loop()

void v_ctl_guidance_loop ( void  )

General guidance logic This will call the proper control loops according to the sub-modes.

Definition at line 265 of file guidance_v.c.

◆ v_ctl_init()

void v_ctl_init ( void  )

Definition at line 172 of file guidance_v.c.

References v_ctl_altitude_error, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_altitude_max_climb, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_pre_climb_correction, V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, v_ctl_auto_groundspeed_igain, v_ctl_auto_groundspeed_pgain, v_ctl_auto_groundspeed_setpoint, v_ctl_auto_groundspeed_sum_err, v_ctl_auto_pitch_igain, V_CTL_AUTO_PITCH_IGAIN, v_ctl_auto_pitch_pgain, v_ctl_auto_pitch_sum_err, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_DGAIN, v_ctl_auto_throttle_dgain, v_ctl_auto_throttle_igain, v_ctl_auto_throttle_max_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle, v_ctl_auto_throttle_nominal_cruise_throttle, v_ctl_auto_throttle_pgain, v_ctl_auto_throttle_pitch_of_vz_dgain, V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN, v_ctl_auto_throttle_pitch_of_vz_pgain, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_auto_throttle_sum_err, v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_THROTTLE, v_ctl_climb_setpoint, v_ctl_mode, V_CTL_MODE_MANUAL, v_ctl_pitch_setpoint, V_CTL_PITCH_TRIM, v_ctl_pitch_trim, and v_ctl_throttle_setpoint.

◆ v_ctl_landing_loop()

void v_ctl_landing_loop ( void  )

Definition at line 357 of file guidance_v.c.

References UtmCoor_f::alt, autopilot_throttle_killed(), CONTROL_FREQUENCY, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, nav_pitch, stateGetHorizontalSpeedNorm_f(), stateGetPositionUtm_f(), v_ctl_altitude_setpoint, and v_ctl_throttle_setpoint.

Referenced by attitude_loop(), and v_ctl_guidance_loop().

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◆ v_ctl_throttle_slew()

void v_ctl_throttle_slew ( void  )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 553 of file guidance_v.c.

References MAX_PPRZ, TRIM_PPRZ, v_ctl_throttle_setpoint, V_CTL_THROTTLE_SLEW, and v_ctl_throttle_slewed.

Variable Documentation

◆ v_ctl_altitude_error

float v_ctl_altitude_error

in meters, (setpoint - alt) -> positive = too low

Definition at line 42 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_altitude_max_climb

float v_ctl_altitude_max_climb

Definition at line 44 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

◆ v_ctl_altitude_pgain

float v_ctl_altitude_pgain

Definition at line 41 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

◆ v_ctl_altitude_pre_climb

float v_ctl_altitude_pre_climb

Path Angle.

Definition at line 40 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

◆ v_ctl_altitude_pre_climb_correction

float v_ctl_altitude_pre_climb_correction

Definition at line 43 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

◆ v_ctl_altitude_setpoint

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 39 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_init(), and v_ctl_landing_loop().

◆ v_ctl_auto_pitch_igain

float v_ctl_auto_pitch_igain

Definition at line 85 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_pitch_pgain

float v_ctl_auto_pitch_pgain

Definition at line 84 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_pitch_sum_err

float v_ctl_auto_pitch_sum_err

Definition at line 86 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_throttle_climb_throttle_increment

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 60 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_cruise_throttle

float v_ctl_auto_throttle_cruise_throttle

Definition at line 56 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_dgain

float v_ctl_auto_throttle_dgain

Definition at line 63 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_igain

float v_ctl_auto_throttle_igain

Definition at line 62 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_max_cruise_throttle

float v_ctl_auto_throttle_max_cruise_throttle

Definition at line 59 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_throttle_min_cruise_throttle

float v_ctl_auto_throttle_min_cruise_throttle

Definition at line 58 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_throttle_nominal_cruise_throttle

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 57 of file guidance_v.c.

Referenced by v_ctl_init().

◆ v_ctl_auto_throttle_pgain

float v_ctl_auto_throttle_pgain

Definition at line 61 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_pitch_of_vz_dgain

float v_ctl_auto_throttle_pitch_of_vz_dgain

Definition at line 67 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_pitch_of_vz_pgain

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 66 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_submode

uint8_t v_ctl_auto_throttle_submode

Definition at line 49 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_auto_throttle_sum_err

float v_ctl_auto_throttle_sum_err

Definition at line 64 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_climb_mode

uint8_t v_ctl_climb_mode

Definition at line 48 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

◆ v_ctl_climb_setpoint

float v_ctl_climb_setpoint

Definition at line 47 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_mode

uint8_t v_ctl_mode

Definition at line 36 of file guidance_v.c.

Referenced by v_ctl_guidance_loop(), and v_ctl_init().

◆ v_ctl_pitch_setpoint

float v_ctl_pitch_setpoint

Definition at line 91 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), v_ctl_guidance_loop(), and v_ctl_init().

◆ v_ctl_pitch_trim

float v_ctl_pitch_trim

Definition at line 95 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

◆ v_ctl_throttle_setpoint

pprz_t v_ctl_throttle_setpoint

Definition at line 89 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), v_ctl_guidance_loop(), v_ctl_init(), v_ctl_landing_loop(), and v_ctl_throttle_slew().

◆ v_ctl_throttle_slewed

pprz_t v_ctl_throttle_slewed

Definition at line 90 of file guidance_v.c.

Referenced by v_ctl_throttle_slew().