Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_indi.h
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1 /*
2  * Copyright (C) 2015 Ewoud Smeur <ewoud.smeur@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
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14  * GNU General Public License for more details.
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20  */
21 
28 #ifndef GUIDANCE_INDI_H
29 #define GUIDANCE_INDI_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
36 
37 extern void guidance_indi_init(void);
38 extern void guidance_indi_enter(void);
39 
44 };
45 
50 };
51 
52 extern struct StabilizationSetpoint guidance_indi_run(struct FloatVect3 *accep_sp, float heading_sp);
53 extern 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);
54 
56 
57 // settings for guidance INDI
58 extern float guidance_indi_pos_gain;
59 extern float guidance_indi_speed_gain;
60 extern float guidance_indi_max_bank;
61 
62 
63 extern struct FloatVect3 sp_accel;
64 
65 #endif /* GUIDANCE_INDI_H */
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)
float guidance_indi_max_bank
float guidance_indi_pos_gain
Definition: guidance_indi.c:58
struct FloatVect3 sp_accel
Definition: guidance_indi.c:78
void guidance_indi_enter(void)
Call upon entering indi guidance.
void guidance_indi_init(void)
Init function.
float guidance_indi_specific_force_gain
float guidance_indi_speed_gain
Definition: guidance_indi.c:64
GuidanceIndi_VMode
Definition: guidance_indi.h:46
@ GUIDANCE_INDI_V_ACCEL
Definition: guidance_indi.h:49
@ GUIDANCE_INDI_V_SPEED
Definition: guidance_indi.h:48
@ GUIDANCE_INDI_V_POS
Definition: guidance_indi.h:47
GuidanceIndi_HMode
Definition: guidance_indi.h:40
@ GUIDANCE_INDI_H_SPEED
Definition: guidance_indi.h:42
@ GUIDANCE_INDI_H_ACCEL
Definition: guidance_indi.h:43
@ GUIDANCE_INDI_H_POS
Definition: guidance_indi.h:41
struct StabilizationSetpoint guidance_indi_run(struct FloatVect3 *accep_sp, float heading_sp)
Paparazzi floating point algebra.
Paparazzi fixed point algebra.
General stabilization interface for rotorcrafts.
Stabilization setpoint.
Definition: stabilization.h:42