Paparazzi UAS  v5.15_devel-81-gd13dafb
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guidance_h_ref.h
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21 
27 #ifndef GUIDANCE_H_REF_H
28 #define GUIDANCE_H_REF_H
29 
30 #include "inttypes.h"
31 #include "math/pprz_algebra.h"
32 #include "math/pprz_algebra_int.h"
33 #include "generated/airframe.h"
34 
36 #ifndef GUIDANCE_H_REF_MAX_SPEED
37 #define GUIDANCE_H_REF_MAX_SPEED 5.
38 #endif
39 
43 extern float gh_max_speed;
44 
48 #ifndef GUIDANCE_H_REF_MAX_ACCEL
49 #define GUIDANCE_H_REF_MAX_ACCEL 5.66
50 #endif
51 
54 #define GH_FREQ_FRAC 9
55 #define GH_FREQ (1<<GH_FREQ_FRAC)
56 
57 #define GH_ACCEL_REF_FRAC 8
58 #define GH_SPEED_REF_FRAC (GH_ACCEL_REF_FRAC + GH_FREQ_FRAC)
59 #define GH_POS_REF_FRAC (GH_SPEED_REF_FRAC + GH_FREQ_FRAC)
60 
61 struct GuidanceHRef {
67  struct Int32Vect2 accel;
68 
74  struct Int32Vect2 speed;
75 
80  struct Int64Vect2 pos;
81 
82  float tau;
83  float omega;
84  float zeta;
85 
89  float max_speed;
90 
91  /*
92  * internal variables
93  */
97 
100 
105 
109 };
110 
111 extern struct GuidanceHRef gh_ref;
112 
113 extern void gh_ref_init(void);
114 extern void gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel);
115 extern void gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp);
116 extern void gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp);
117 
123 extern float gh_set_max_speed(float max_speed);
124 
125 extern float gh_set_tau(float tau);
126 extern float gh_set_omega(float omega);
127 extern float gh_set_zeta(float zeta);
128 
129 #endif /* GUIDANCE_H_REF_H */
int32_t inv_tau
struct GuidanceHRef gh_ref
float gh_max_speed
Current maximum speed for waypoint navigation.
void gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp)
int32_t zeta_omega
void gh_ref_init(void)
float gh_set_zeta(float zeta)
void gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp)
struct Int64Vect2 pos
Reference model position.
int32_t route_ref
float gh_set_omega(float omega)
Paparazzi generic algebra macros.
int32_t s_route_ref
float max_speed
Current maximum speed for waypoint navigation.
float tau
first order time constant
struct Int32Vect2 max_vel
signed long int32_t
Definition: types.h:19
float gh_set_tau(float tau)
float gh_set_max_speed(float max_speed)
Set a new maximum speed for waypoint navigation.
int32_t c_route_ref
struct Int32Vect2 speed
Reference model speed.
float omega
second order model natural frequency
int32_t max_speed_int
gh_max_speed in fixed point representation with GH_MAX_SPEED_REF_FRAC must be limited to 2^14 to avoi...
int32_t omega_2
struct Int32Vect2 accel
Reference model acceleration.
struct Int32Vect2 max_accel
float zeta
second order model damping
void gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel)
Paparazzi fixed point algebra.