guidance_indi.h File Reference

A guidance mode based on Incremental Nonlinear Dynamic Inversion. More...

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

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Enumerations
enum	GuidanceIndi_HMode { GUIDANCE_INDI_H_POS , GUIDANCE_INDI_H_SPEED , GUIDANCE_INDI_H_ACCEL }
enum	GuidanceIndi_VMode { GUIDANCE_INDI_V_POS , GUIDANCE_INDI_V_SPEED , GUIDANCE_INDI_V_ACCEL }

Functions
void	guidance_indi_init (void)
	Init function. More...
void	guidance_indi_enter (void)
	Call upon entering indi guidance. More...
struct StabilizationSetpoint	guidance_indi_run (struct FloatVect3 *accep_sp, float heading_sp)
struct StabilizationSetpoint	guidance_indi_run_mode (bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndi_HMode h_mode, enum GuidanceIndi_VMode v_mode)

Variables
float	guidance_indi_specific_force_gain
float	guidance_indi_pos_gain
float	guidance_indi_speed_gain
float	guidance_indi_max_bank
struct FloatVect3	sp_accel

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion.

Definition in file guidance_indi.h.

Enumeration Type Documentation

GuidanceIndi_HMode

enum GuidanceIndi_HMode

Enumerator
GUIDANCE_INDI_H_POS
GUIDANCE_INDI_H_SPEED
GUIDANCE_INDI_H_ACCEL

Definition at line 40 of file guidance_indi.h.

GuidanceIndi_VMode

enum GuidanceIndi_VMode

Enumerator
GUIDANCE_INDI_V_POS
GUIDANCE_INDI_V_SPEED
GUIDANCE_INDI_V_ACCEL

Definition at line 46 of file guidance_indi.h.

Function Documentation

guidance_indi_enter()

void guidance_indi_enter

(

void

)

Call upon entering indi guidance.

Definition at line 168 of file guidance_indi.c.

guidance_indi_init()

void guidance_indi_init

(

void

)

Init function.

Definition at line 153 of file guidance_indi.c.

guidance_indi_run()

struct StabilizationSetpoint guidance_indi_run	(	struct FloatVect3 *	accel_sp,
		float	heading_sp
	)

Parameters

accel_sp	accel setpoint in NED frame [m/s^2]
heading_sp	the desired heading [rad]

Returns

stabilization setpoint structure

main indi guidance function

Definition at line 168 of file guidance_indi.c.

guidance_indi_run_mode()

struct StabilizationSetpoint guidance_indi_run_mode	(	bool	in_flight,
		struct HorizontalGuidance *	gh,
		struct VerticalGuidance *	gv,
		enum GuidanceIndi_HMode	h_mode,
		enum GuidanceIndi_VMode	v_mode
	)

Definition at line 168 of file guidance_indi.c.

Variable Documentation

guidance_indi_max_bank

float guidance_indi_max_bank

extern

Definition at line 117 of file guidance_indi.c.

guidance_indi_pos_gain

float guidance_indi_pos_gain

extern

Definition at line 54 of file guidance_indi.c.

guidance_indi_specific_force_gain

float guidance_indi_specific_force_gain

extern

Referenced by ctrl_eff_scheduling_periodic().

guidance_indi_speed_gain

float guidance_indi_speed_gain

extern

Definition at line 60 of file guidance_indi.c.

sp_accel

struct FloatVect3 sp_accel

extern

Definition at line 70 of file guidance_indi.c.