Guidance controllers (horizontal and vertical) for Hybrid UAV configurations. More...

#include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "firmwares/rotorcraft/guidance/guidance_pid.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for guidance_hybrid.c:

Go to the source code of this file.

Macros
#define	MAX_AIRSPEED 15

#define	INT32_ANGLE_HIGH_RES_FRAC 18

#define	AIRSPEED_HOVER 4

#define	AIRSPEED_FORWARD 12

#define	CRUISE_THROTTLE 4000

#define	FWD_SPEED_P_GAIN 30

#define	FWD_ALT_THRUST_GAIN 0.35

#define	FWD_PID_DIV 2

#define	FWD_NOMINAL_PITCH 78.0

#define	FWD_PITCH_GAIN 2.1

#define	HOVER_P_GAIN 12

#define	INT32_ANGLE_HIGH_RES_NORMALIZE(_a)

Functions
static void	send_hybrid_guidance (struct transport_tx trans, struct link_device dev)

void	guidance_hybrid_init (void)
	Hybrid Guidance Initialization function.

struct StabilizationSetpoint	guidance_hybrid_run (void)
	Runs the Hybrid Guidance main functions.

struct StabilizationSetpoint	guidance_hybrid_h_run_pos (bool in_flight UNUSED, struct HorizontalGuidance *gh)

struct StabilizationSetpoint	guidance_hybrid_h_run_speed (bool in_flight UNUSED, struct HorizontalGuidance *gh)

struct StabilizationSetpoint	guidance_hybrid_h_run_accel (bool in_flight UNUSED, struct HorizontalGuidance *gh UNUSED)

struct ThrustSetpoint	guidance_hybrid_v_run_pos (bool in_flight, struct VerticalGuidance *gv)

struct ThrustSetpoint	guidance_hybrid_v_run_speed (bool in_flight, struct VerticalGuidance *gv)

struct ThrustSetpoint	guidance_hybrid_v_run_accel (bool in_flight, struct VerticalGuidance *gv)

void	guidance_hybrid_airspeed_to_attitude (struct Int32Eulers *ypr_sp)
	Convert a required airspeed to a certain attitude for the Quadshot.

void	guidance_hybrid_groundspeed_to_airspeed (void)
	Description.

void	guidance_hybrid_determine_wind_estimate (void)
	Description.

struct StabilizationSetpoint	guidance_hybrid_set_cmd_i (struct Int32Eulers *sp_cmd)
	Creates the attitude set-points from an orientation vector.

struct ThrustSetpoint	guidance_hybrid_vertical (struct ThrustSetpoint *th)
	Take a thrust command as input and returns the modified value according to the current flight regime.

Variables
int32_t	guidance_hybrid_norm_ref_airspeed

float	guidance_hybrid_norm_ref_airspeed_f

int32_t	max_airspeed = MAX_AIRSPEED

int32_t	wind_gain

int32_t	horizontal_speed_gain

float	max_turn_bank

float	turn_bank_gain

int32_t	cruise_throttle = CRUISE_THROTTLE

int32_t	fwd_speed_p_gain = FWD_SPEED_P_GAIN

float	fwd_alt_thrust_gain = FWD_ALT_THRUST_GAIN

float	fwd_pid_div = FWD_PID_DIV

float	fwd_nominal_pitch = FWD_NOMINAL_PITCH

float	fwd_pitch_gain = FWD_PITCH_GAIN

int32_t	hover_p_gain = HOVER_P_GAIN

static struct Int32Vect2	guidance_hybrid_groundspeed_sp

static struct Int32Eulers	guidance_hybrid_ypr_sp

static struct Int32Vect2	guidance_hybrid_airspeed_sp

static struct Int32Vect2	guidance_h_pos_err

static struct Int32Vect2	guidance_hybrid_airspeed_ref

static struct Int32Vect2	wind_estimate

static struct Int32Vect2	wind_estimate_high_res

static struct Int32Vect2	guidance_hybrid_ref_airspeed

static int32_t	norm_sp_airspeed_disp

static int32_t	heading_diff_disp

static int32_t	omega_disp

static int32_t	high_res_psi

static int32_t	airspeed_sp_heading_disp

static bool	guidance_hovering

bool	force_forward_flight

static int32_t	v_control_pitch

Detailed Description

Guidance controllers (horizontal and vertical) for Hybrid UAV configurations.

Functionality: 1) hover with (helicopter) thrust vectoring and align the heading with the wind vector. 2) Forward flight with using pitch and a bit of thrust to control altitude and heading to control the velocity vector 3) Transition between the two, with the possibility to fly at any airspeed

Definition in file guidance_hybrid.c.

Macro Definition Documentation

◆ AIRSPEED_FORWARD

#define AIRSPEED_FORWARD 12

Definition at line 63 of file guidance_hybrid.c.

◆ AIRSPEED_HOVER

#define AIRSPEED_HOVER 4

Definition at line 62 of file guidance_hybrid.c.

◆ CRUISE_THROTTLE

#define CRUISE_THROTTLE 4000

Definition at line 64 of file guidance_hybrid.c.

◆ FWD_ALT_THRUST_GAIN

#define FWD_ALT_THRUST_GAIN 0.35

Definition at line 66 of file guidance_hybrid.c.

◆ FWD_NOMINAL_PITCH

#define FWD_NOMINAL_PITCH 78.0

Definition at line 68 of file guidance_hybrid.c.

◆ FWD_PID_DIV

#define FWD_PID_DIV 2

Definition at line 67 of file guidance_hybrid.c.

◆ FWD_PITCH_GAIN

#define FWD_PITCH_GAIN 2.1

Definition at line 69 of file guidance_hybrid.c.

◆ FWD_SPEED_P_GAIN

#define FWD_SPEED_P_GAIN 30

Definition at line 65 of file guidance_hybrid.c.

◆ HOVER_P_GAIN

#define HOVER_P_GAIN 12

Definition at line 70 of file guidance_hybrid.c.

◆ INT32_ANGLE_HIGH_RES_FRAC

#define INT32_ANGLE_HIGH_RES_FRAC 18

Definition at line 51 of file guidance_hybrid.c.

◆ INT32_ANGLE_HIGH_RES_NORMALIZE

#define INT32_ANGLE_HIGH_RES_NORMALIZE ( _a )

Value:

    {             \
    while ((_a) > (INT32_ANGLE_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC)))  (_a) -= (INT32_ANGLE_2_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC));    \
    while ((_a) < -(INT32_ANGLE_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC))) (_a) += (INT32_ANGLE_2_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC));    \
  }