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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Macros
#define	GUIDANCE_INDI_NV   3
#define	GUIDANCE_INDI_NU   3

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.
void	guidance_indi_enter (void)
	Call upon entering indi guidance.
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)
struct FloatVect3	guidance_indi_controller (bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndi_HMode h_mode, enum GuidanceIndi_VMode v_mode)
void	guidance_indi_calcG (float Gmat[GUIDANCE_INDI_NV][GUIDANCE_INDI_NU], struct FloatEulers att)

Variables
float	guidance_indi_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.

Macro Definition Documentation

GUIDANCE_INDI_NU

#define GUIDANCE_INDI_NU   3

Definition at line 63 of file guidance_indi.h.

GUIDANCE_INDI_NV

#define GUIDANCE_INDI_NV   3

Definition at line 58 of 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 39 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 45 of file guidance_indi.h.

Function Documentation

guidance_indi_calcG()

void guidance_indi_calcG ( float  Gmat[GUIDANCE_INDI_NV][GUIDANCE_INDI_NU], struct FloatEulers  att  )

extern

Referenced by guidance_indi_run().

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guidance_indi_controller()

struct FloatVect3 guidance_indi_controller ( bool  in_flight, struct HorizontalGuidance *  gh, struct VerticalGuidance *  gv, enum GuidanceIndi_HMode  h_mode, enum GuidanceIndi_VMode  v_mode  )

extern

Definition at line 346 of file guidance_indi.c.

References ACCEL_FLOAT_OF_BFP, foo, GUIDANCE_INDI_H_ACCEL, GUIDANCE_INDI_H_SPEED, guidance_indi_pos_gain, guidance_indi_speed_gain, GUIDANCE_INDI_V_ACCEL, GUIDANCE_INDI_V_SPEED, POS_FLOAT_OF_BFP, SPEED_FLOAT_OF_BFP, speed_sp, stateGetPositionNed_f(), stateGetSpeedNed_f(), FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_indi_run_mode().

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guidance_indi_enter()

void guidance_indi_enter ( void  )

extern

Call upon entering indi guidance.

Definition at line 205 of file guidance_indi.c.

guidance_indi_init()

void guidance_indi_init ( void  )

extern

Init function.

Definition at line 190 of file guidance_indi.c.

guidance_indi_run()

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

extern

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 239 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  )

extern

Definition at line 397 of file guidance_indi.c.

References foo, get_sys_time_float(), guidance_indi_controller(), guidance_indi_run(), guidance_indi_speed_gain, indi_accel_sp, indi_accel_sp_set_2d, indi_accel_sp_set_3d, speed_sp, stateGetSpeedNed_f(), time_of_accel_sp_2d, time_of_accel_sp_3d, FloatVect3::x, FloatVect3::y, FloatVect3::z, and NedCoor_f::z.

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Variable Documentation

guidance_indi_max_bank

float guidance_indi_max_bank

extern

Definition at line 147 of file guidance_indi.c.

guidance_indi_pos_gain

float guidance_indi_pos_gain

extern

Definition at line 53 of file guidance_indi.c.

Referenced by guidance_indi_controller().

guidance_indi_specific_force_gain

float guidance_indi_specific_force_gain

extern

Referenced by ctrl_eff_scheduling_periodic(), and guidance_indi_run().

guidance_indi_speed_gain

float guidance_indi_speed_gain

extern

Definition at line 59 of file guidance_indi.c.

Referenced by guidance_indi_controller(), and guidance_indi_run_mode().