guidance_flip.c File Reference

Open Loop guidance for making a flip. More...

#include "guidance_flip.h"
#include "autopilot.h"
#include "guidance_h.h"
#include "stabilization/stabilization_attitude_rc_setpoint.h"
#include "stabilization/stabilization_attitude.h"

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Macros
#define	STOP_ROLL_CMD_ANGLE   25.0
#define	FIRST_THRUST_DURATION   0.3
#define	FINAL_THRUST_LEVEL   6000

Functions
void	guidance_flip_enter (void)
void	guidance_flip_run (void)

Variables
uint32_t	flip_counter
uint8_t	flip_state
bool	flip_rollout
int32_t	heading_save
uint8_t	autopilot_mode_old
struct Int32Vect2	flip_cmd_earth

Detailed Description

Open Loop guidance for making a flip.

You need to tune this before using. When entering this mode it saves the previous guidance mode and changes AUTO2 back to the previous mode after finishing the flip. Use it with caution!

Definition in file guidance_flip.c.

Macro Definition Documentation

FINAL_THRUST_LEVEL

#define FINAL_THRUST_LEVEL   6000

Definition at line 46 of file guidance_flip.c.

FIRST_THRUST_DURATION

#define FIRST_THRUST_DURATION   0.3

Definition at line 43 of file guidance_flip.c.

STOP_ROLL_CMD_ANGLE

#define STOP_ROLL_CMD_ANGLE   25.0

Definition at line 40 of file guidance_flip.c.

Function Documentation

guidance_flip_enter()

void guidance_flip_enter

(

void

)

Definition at line 56 of file guidance_flip.c.

References autopilot_get_mode(), autopilot_mode_old, flip_counter, flip_rollout, flip_state, heading_save, and stabilization_attitude_get_heading_i().

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guidance_flip_run()

void guidance_flip_run

(

void

)

Definition at line 65 of file guidance_flip.c.

References ANGLE_BFP_OF_REAL, autopilot_in_flight(), autopilot_mode_auto2, autopilot_mode_old, autopilot_set_mode(), BFP_OF_REAL, Stabilization::cmd, FINAL_THRUST_LEVEL, FIRST_THRUST_DURATION, flip_cmd_earth, flip_counter, flip_rollout, flip_state, heading_save, Int32Eulers::phi, Int32Eulers::psi, stab_att_sp_euler, stabilization, stabilization_attitude_run(), stateGetNedToBodyEulers_i(), STOP_ROLL_CMD_ANGLE, Int32Vect2::x, and Int32Vect2::y.

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Variable Documentation

autopilot_mode_old

uint8_t autopilot_mode_old

Definition at line 53 of file guidance_flip.c.

Referenced by guidance_flip_enter(), and guidance_flip_run().

flip_cmd_earth

struct Int32Vect2 flip_cmd_earth

Definition at line 53 of file guidance_flip.c.

Referenced by guidance_flip_run().

flip_counter

uint32_t flip_counter

Definition at line 49 of file guidance_flip.c.

Referenced by guidance_flip_enter(), and guidance_flip_run().

flip_rollout

bool flip_rollout

Definition at line 51 of file guidance_flip.c.

Referenced by guidance_flip_enter(), and guidance_flip_run().

flip_state

uint8_t flip_state

Definition at line 50 of file guidance_flip.c.

Referenced by guidance_flip_enter(), and guidance_flip_run().

heading_save

int32_t heading_save

Definition at line 52 of file guidance_flip.c.

Referenced by guidance_flip_enter(), and guidance_flip_run().