Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
guidance_v.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2006 Pascal Brisset, Antoine Drouin
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef FW_V_CTL_H
29 #define FW_V_CTL_H
30 
31 /* include common mode and variables definitions */
33 
34 /* outer loop */
35 //extern float v_ctl_altitude_error; in common definition
36 extern float v_ctl_altitude_setpoint;
37 extern float v_ctl_altitude_pre_climb;
38 extern float v_ctl_altitude_pgain;
40 extern float v_ctl_altitude_max_climb;
41 
42 /* "auto throttle" inner loop parameters */
46 //extern float v_ctl_auto_throttle_cruise_throttle; in common definition
48 extern float v_ctl_auto_throttle_pgain;
49 extern float v_ctl_auto_throttle_igain;
50 extern float v_ctl_auto_throttle_dgain;
51 //extern float v_ctl_auto_throttle_sum_err; in common definition
54 
55 /* cruise pitch trim */
56 extern float v_ctl_pitch_trim;
57 
58 /* agressive tuning */
59 #ifdef TUNE_AGRESSIVE_CLIMB
60 extern float agr_climb_throttle;
61 extern float agr_climb_pitch;
62 extern float agr_climb_nav_ratio;
63 extern float agr_descent_throttle;
64 extern float agr_descent_pitch;
65 extern float agr_descent_nav_ratio;
66 #endif
67 
68 /* "auto pitch" inner loop parameters */
69 extern float v_ctl_auto_pitch_pgain;
70 extern float v_ctl_auto_pitch_igain;
71 extern float v_ctl_auto_pitch_sum_err;
72 
73 #if USE_AIRSPEED
74 /* "airspeed" inner loop parameters */
75 extern float v_ctl_auto_airspeed_setpoint;
76 //extern float v_ctl_auto_airspeed_controlled; in common definition
77 extern float v_ctl_auto_airspeed_pgain;
78 extern float v_ctl_auto_airspeed_igain;
79 extern float v_ctl_auto_airspeed_sum_err;
80 //extern float v_ctl_auto_groundspeed_setpoint; in common definition
81 extern float v_ctl_auto_groundspeed_pgain;
82 extern float v_ctl_auto_groundspeed_igain;
84 #endif
85 
86 #if CTRL_VERTICAL_LANDING
87 extern float v_ctl_landing_throttle_pgain;
88 extern float v_ctl_landing_throttle_igain;
89 extern float v_ctl_landing_throttle_max;
90 extern float v_ctl_landing_desired_speed;
91 extern float v_ctl_landing_pitch_pgain;
92 extern float v_ctl_landing_pitch_igain;
93 extern float v_ctl_landing_pitch_limits;
94 extern float v_ctl_landing_pitch_flare;
95 extern float v_ctl_landing_alt_throttle_kill;
96 extern float v_ctl_landing_alt_flare;
97 #endif
98 
99 #endif /* FW_V_CTL_H */
float v_ctl_altitude_setpoint
in meters above MSL
Definition: energy_ctrl.c:88
float v_ctl_auto_throttle_min_cruise_throttle
Definition: guidance_v.c:58
float v_ctl_auto_pitch_igain
Definition: guidance_v.c:85
float v_ctl_auto_groundspeed_igain
Definition: energy_ctrl.c:127
float v_ctl_pitch_trim
Definition: guidance_v.c:95
float v_ctl_auto_pitch_sum_err
Definition: guidance_v.c:86
float v_ctl_altitude_pre_climb
Path Angle.
Definition: energy_ctrl.c:89
float v_ctl_auto_throttle_dgain
Definition: guidance_v.c:63
float v_ctl_auto_airspeed_setpoint
in meters per second
Definition: energy_ctrl.c:121
float v_ctl_auto_pitch_pgain
Definition: guidance_v.c:84
float v_ctl_auto_throttle_climb_throttle_increment
Definition: energy_ctrl.c:106
float v_ctl_auto_groundspeed_sum_err
Definition: energy_ctrl.c:128
Vertical control for fixed wing vehicles.
float v_ctl_auto_throttle_pitch_of_vz_dgain
Definition: guidance_v.c:67
float v_ctl_altitude_pgain
Definition: energy_ctrl.c:90
float v_ctl_auto_throttle_pitch_of_vz_pgain
Definition: energy_ctrl.c:107
float v_ctl_auto_throttle_igain
Definition: guidance_v.c:62
float v_ctl_auto_throttle_pgain
Definition: guidance_v.c:61
float v_ctl_altitude_pre_climb_correction
Definition: guidance_v.c:43
float v_ctl_altitude_max_climb
Definition: guidance_v.c:44
float v_ctl_auto_throttle_nominal_cruise_throttle
Definition: energy_ctrl.c:104
float v_ctl_auto_groundspeed_pgain
Definition: energy_ctrl.c:126
float v_ctl_auto_throttle_max_cruise_throttle
Definition: guidance_v.c:59