guidance_hybrid.h

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/*
 * Copyright (C) 2014 Ewoud Smeur <e.j.j.smeur@tudelft.nl>
 * This is code for guidance of hybrid UAVs. It needs a simple velocity
 * model to control the ground velocity of the UAV while estimating the
 * wind velocity.
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef GUIDANCE_HYBRID_H
#define GUIDANCE_HYBRID_H
 
#include "math/pprz_algebra_int.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/stabilization.h"
 
extern int32_t guidance_hybrid_norm_ref_airspeed;
extern int32_t max_airspeed;
extern int32_t wind_gain;
extern int32_t horizontal_speed_gain;
extern float max_turn_bank;
extern float turn_bank_gain;
 
extern int32_t cruise_throttle;
extern int32_t fwd_speed_p_gain;
extern float fwd_alt_thrust_gain;
extern float fwd_pid_div;
extern float fwd_nominal_pitch;
extern float fwd_pitch_gain;
extern int32_t hover_p_gain;
 
extern void guidance_hybrid_init(void);
 
extern struct StabilizationSetpoint guidance_hybrid_run(void);
 
extern struct StabilizationSetpoint guidance_hybrid_h_run_pos(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_hybrid_h_run_speed(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_hybrid_h_run_accel(bool in_flight, struct HorizontalGuidance *gh);
extern struct ThrustSetpoint guidance_hybrid_v_run_pos(bool in_flight, struct VerticalGuidance *gv);
extern struct ThrustSetpoint guidance_hybrid_v_run_speed(bool in_flight, struct VerticalGuidance *gv);
extern struct ThrustSetpoint guidance_hybrid_v_run_accel(bool in_flight, struct VerticalGuidance *gv);
 
extern struct StabilizationSetpoint guidance_hybrid_set_cmd_i(struct Int32Eulers *sp_cmd);
 
extern void guidance_hybrid_airspeed_to_attitude(struct Int32Eulers *ypr_sp);
 
extern void guidance_hybrid_groundspeed_to_airspeed(void);
 
extern void guidance_hybrid_determine_wind_estimate(void);
 
extern struct ThrustSetpoint guidance_hybrid_vertical(struct ThrustSetpoint *th);
 
extern bool force_forward_flight;
 
#endif /* GUIDANCE_HYBRID_H */