Paparazzi UAS  v5.15_devel-81-gd13dafb
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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"
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Functions

void guidance_indi_enter (void)
 Call upon entering indi guidance. More...
 
void guidance_indi_run (float heading_sp)
 
void stabilization_attitude_set_setpoint_rp_quat_f (struct FloatEulers *indi_rp_cmd, bool in_flight, float heading)
 
void guidance_indi_init (void)
 Init function. More...
 

Variables

float guidance_indi_thrust_specific_force_gain
 
float guidance_indi_pos_gain
 
float guidance_indi_speed_gain
 
float guidance_indi_max_bank
 

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion.

Definition in file guidance_indi.h.

Function Documentation

void guidance_indi_enter ( void  )

Call upon entering indi guidance.

Definition at line 134 of file guidance_indi.c.

References filter_cutoff, init_butterworth_2_low_pass(), FloatEulers::phi, stabilization_cmd, stateGetNedToBodyEulers_f(), FloatEulers::theta, thrust_act, and thrust_in.

Referenced by guidance_h_mode_changed().

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void guidance_indi_init ( void  )

Init function.

Definition at line 125 of file guidance_indi.c.

References accel_sp_cb(), and GUIDANCE_INDI_ACCEL_SP_ID.

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void stabilization_attitude_set_setpoint_rp_quat_f ( struct FloatEulers indi_rp_cmd,
bool  in_flight,
float  heading 
)

Variable Documentation

float guidance_indi_max_bank

Definition at line 110 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_pos_gain

Definition at line 58 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_speed_gain

Definition at line 64 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_thrust_specific_force_gain