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

#include "math/pprz_algebra_int.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/stabilization.h"

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Functions
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, struct HorizontalGuidance *gh)

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

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

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)

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

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

void	guidance_hybrid_groundspeed_to_airspeed (void)
	Description.

void	guidance_hybrid_determine_wind_estimate (void)
	Description.

struct ThrustSetpoint	guidance_hybrid_vertical (struct ThrustSetpoint *th)
	Description.

Detailed Description

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

Definition in file guidance_hybrid.h.

Function Documentation

◆ guidance_hybrid_airspeed_to_attitude()

void guidance_hybrid_airspeed_to_attitude ( struct Int32Eulers * ypr_sp )

extern

Convert a required airspeed to a certain attitude for the Hybrid.

Parameters

ypr_sp Attitude set-point

Convert a required airspeed to a certain attitude for the Hybrid.

if required speed is lower than 4 m/s act like a rotorcraft

if required speed is higher than 4 m/s act like a fixedwing

Definition at line 206 of file guidance_hybrid.c.

References AIRSPEED_FORWARD, AIRSPEED_HOVER, airspeed_sp_heading_disp, ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, FLOAT_ANGLE_NORMALIZE, FLOAT_OF_BFP, foo, fwd_nominal_pitch, guidance_hybrid_airspeed_sp, guidance_hybrid_norm_ref_airspeed, guidance_hybrid_norm_ref_airspeed_f, guidance_hybrid_ref_airspeed, heading_diff_disp, high_res_psi, hover_p_gain, INT32_ANGLE_FRAC, INT32_ANGLE_HIGH_RES_FRAC, INT32_ANGLE_HIGH_RES_NORMALIZE, INT32_ANGLE_PI, INT32_POS_FRAC, INT32_TRIG_FRAC, int32_vect2_norm(), max_turn_bank, norm_sp_airspeed_disp, omega_disp, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, turn_bank_gain, v_control_pitch, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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◆ guidance_hybrid_determine_wind_estimate()

void guidance_hybrid_determine_wind_estimate ( void )

extern

Description.

Definition at line 385 of file guidance_hybrid.c.

References foo, guidance_hybrid_ref_airspeed, INT32_VECT2_RSHIFT, stateGetSpeedNed_i(), VECT2_DIFF, wind_estimate, wind_estimate_high_res, wind_gain, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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◆ guidance_hybrid_groundspeed_to_airspeed()

void guidance_hybrid_groundspeed_to_airspeed ( void )

extern

Description.

Definition at line 324 of file guidance_hybrid.c.

References foo, force_forward_flight, guidance_hybrid_airspeed_sp, guidance_hybrid_groundspeed_sp, guidance_hybrid_ypr_sp, INT32_TRIG_FRAC, int32_vect2_norm(), INT_MULT_RSHIFT, INT_VECT2_ZERO, max_airspeed, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, VECT2_ADD, wind_estimate, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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◆ guidance_hybrid_h_run_accel()

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

extern

◆ guidance_hybrid_h_run_pos()

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

extern

Definition at line 163 of file guidance_hybrid.c.

References foo, guidance_h_pos_err, guidance_hybrid_groundspeed_sp, guidance_hybrid_run(), horizontal_speed_gain, stateGetPositionNed_i(), VECT2_DIFF, and VECT2_SDIV.

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◆ guidance_hybrid_h_run_speed()

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

extern

Definition at line 172 of file guidance_hybrid.c.

References foo, guidance_hybrid_groundspeed_sp, guidance_hybrid_run(), and VECT2_COPY.

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◆ guidance_hybrid_init()

void guidance_hybrid_init ( void )

extern

Hybrid Guidance Initialization function.

Parameters

Definition at line 123 of file guidance_hybrid.c.

References DefaultPeriodic, foo, force_forward_flight, guidance_hovering, guidance_hybrid_airspeed_ref, guidance_hybrid_airspeed_sp, guidance_hybrid_groundspeed_sp, guidance_hybrid_norm_ref_airspeed, guidance_hybrid_norm_ref_airspeed_f, guidance_hybrid_ref_airspeed, guidance_hybrid_ypr_sp, high_res_psi, horizontal_speed_gain, INT_EULERS_ZERO, INT_VECT2_ZERO, max_turn_bank, register_periodic_telemetry(), send_hybrid_guidance(), turn_bank_gain, wind_estimate, wind_estimate_high_res, and wind_gain.

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◆ guidance_hybrid_run()

struct StabilizationSetpoint guidance_hybrid_run ( void )

extern

Runs the Hybrid Guidance main functions.

Definition at line 155 of file guidance_hybrid.c.

References guidance_hybrid_airspeed_to_attitude(), guidance_hybrid_determine_wind_estimate(), guidance_hybrid_groundspeed_to_airspeed(), guidance_hybrid_set_cmd_i(), and guidance_hybrid_ypr_sp.

Referenced by guidance_hybrid_h_run_pos(), and guidance_hybrid_h_run_speed().

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◆ guidance_hybrid_set_cmd_i()

struct StabilizationSetpoint guidance_hybrid_set_cmd_i ( struct Int32Eulers * sp_cmd )

extern

Creates the attitude set-points from an orientation vector.

Parameters

sp_cmd The orientation vector

Todo:: calc sp_quat in fixed-point

Definition at line 403 of file guidance_hybrid.c.

References ANGLE_FLOAT_OF_BFP, float_quat_of_orientation_vect(), foo, int32_quat_comp(), int32_quat_of_axis_angle(), QUAT_BFP_OF_REAL, stab_sp_from_quat_i(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_hybrid_run().

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◆ guidance_hybrid_v_run_accel()

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

extern

Definition at line 198 of file guidance_hybrid.c.

References foo, guidance_hybrid_vertical(), and guidance_pid_v_run_accel().

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◆ guidance_hybrid_v_run_pos()

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

extern

Definition at line 186 of file guidance_hybrid.c.

References foo, guidance_hybrid_vertical(), and guidance_pid_v_run_pos().

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◆ guidance_hybrid_v_run_speed()

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

extern

Definition at line 192 of file guidance_hybrid.c.

References foo, guidance_hybrid_vertical(), and guidance_pid_v_run_speed().

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◆ guidance_hybrid_vertical()

struct ThrustSetpoint guidance_hybrid_vertical ( struct ThrustSetpoint * th )

extern

Description.

Change thurst command from standard hover loop to hybrid thrust command

Parameters

delta_t original thurst command

Returns: modified thrust command

Description.

Definition at line 436 of file guidance_hybrid.c.

References AIRSPEED_FORWARD, AIRSPEED_HOVER, ANGLE_BFP_OF_REAL, cruise_throttle, foo, fwd_alt_thrust_gain, fwd_pid_div, fwd_pitch_gain, fwd_speed_p_gain, guidance_hybrid_norm_ref_airspeed_f, guidance_pid, guidance_v, GuidancePID::kd, GuidancePID::ki, GuidancePID::kp, MAX_PPRZ, VerticalGuidance::nominal_throttle, th_sp_from_thrust_i(), th_sp_to_thrust_i(), THRUST_AXIS_Z, and v_control_pitch.

Referenced by guidance_hybrid_v_run_accel(), guidance_hybrid_v_run_pos(), and guidance_hybrid_v_run_speed().

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Variable Documentation

◆ cruise_throttle

int32_t cruise_throttle

extern

Definition at line 72 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

◆ force_forward_flight

bool force_forward_flight

extern

Definition at line 96 of file guidance_hybrid.c.

Referenced by guidance_hybrid_groundspeed_to_airspeed(), and guidance_hybrid_init().

◆ fwd_alt_thrust_gain

float fwd_alt_thrust_gain

extern

Definition at line 74 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

◆ fwd_nominal_pitch

float fwd_nominal_pitch

extern

Definition at line 76 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude().

◆ fwd_pid_div

float fwd_pid_div

extern

Definition at line 75 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

◆ fwd_pitch_gain

float fwd_pitch_gain

extern

Definition at line 77 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

◆ fwd_speed_p_gain

int32_t fwd_speed_p_gain

extern

Definition at line 73 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

◆ guidance_hybrid_norm_ref_airspeed

int32_t guidance_hybrid_norm_ref_airspeed

extern

Definition at line 54 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), guidance_hybrid_init(), and send_hybrid_guidance().

◆ horizontal_speed_gain

int32_t horizontal_speed_gain

extern

Definition at line 58 of file guidance_hybrid.c.

Referenced by guidance_hybrid_h_run_pos(), and guidance_hybrid_init().

◆ hover_p_gain

int32_t hover_p_gain

extern

Definition at line 78 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude().

◆ max_airspeed

int32_t max_airspeed

extern

Definition at line 56 of file guidance_hybrid.c.

Referenced by guidance_hybrid_groundspeed_to_airspeed(), and guidance_set_min_max_airspeed().

◆ max_turn_bank

float max_turn_bank

extern

Definition at line 59 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_init().

◆ turn_bank_gain

float turn_bank_gain

extern

Definition at line 60 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_init().

◆ wind_gain

int32_t wind_gain

extern

Definition at line 57 of file guidance_hybrid.c.

Referenced by guidance_hybrid_determine_wind_estimate(), and guidance_hybrid_init().

Variables
int32_t	guidance_hybrid_norm_ref_airspeed

int32_t	max_airspeed

int32_t	wind_gain

int32_t	horizontal_speed_gain

float	max_turn_bank

float	turn_bank_gain

int32_t	cruise_throttle

int32_t	fwd_speed_p_gain

float	fwd_alt_thrust_gain

float	fwd_pid_div

float	fwd_nominal_pitch

float	fwd_pitch_gain

int32_t	hover_p_gain

bool	force_forward_flight

Functions

Variables

Detailed Description

Function Documentation

◆ guidance_hybrid_airspeed_to_attitude()

◆ guidance_hybrid_determine_wind_estimate()

◆ guidance_hybrid_groundspeed_to_airspeed()

◆ guidance_hybrid_h_run_accel()

◆ guidance_hybrid_h_run_pos()

◆ guidance_hybrid_h_run_speed()

◆ guidance_hybrid_init()

◆ guidance_hybrid_run()

◆ guidance_hybrid_set_cmd_i()

◆ guidance_hybrid_v_run_accel()

◆ guidance_hybrid_v_run_pos()

◆ guidance_hybrid_v_run_speed()

◆ guidance_hybrid_vertical()

Variable Documentation

◆ cruise_throttle

◆ force_forward_flight

◆ fwd_alt_thrust_gain

◆ fwd_nominal_pitch

◆ fwd_pid_div

◆ fwd_pitch_gain

◆ fwd_speed_p_gain

◆ guidance_hybrid_norm_ref_airspeed

◆ horizontal_speed_gain

◆ hover_p_gain

◆ max_airspeed

◆ max_turn_bank

◆ turn_bank_gain

◆ wind_gain