guidance_indi_fully_actuated.c File Reference

Fully actuated plateform can be achieve with hexa-copter with tilted propellers for example. More...

#include "firmwares/rotorcraft/guidance/guidance_indi.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "state.h"
#include "generated/modules.h"

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Macros
#define	GUIDANCE_INDI_MAX_H_THRUST   2.f
#define	GUIDANCE_INDI_MAX_V_THRUST   15.f

Functions
void	guidance_indi_calcG (float Gmat[3][6], const struct FloatQuat *att)
void	guidance_indi_set_wls_settings (struct WLS_t *wls, const struct FloatQuat *att, const float heading_sp)
struct ThrustSetpoint	guidance_set_rc_h_thrust (struct ThrustSetpoint *v_sp)
	Set horizontal thrust from RC Horizontal is passed as an argument.
struct StabilizationSetpoint	guidance_set_rc_h_att (struct StabilizationSetpoint *a_sp)
	Set flat attitude setpoint from RC Heading setpoint is kept.

Variables
float	guidance_indi_max_h_thrust = GUIDANCE_INDI_MAX_H_THRUST
float	guidance_indi_max_v_thrust = GUIDANCE_INDI_MAX_V_THRUST

Detailed Description

Fully actuated plateform can be achieve with hexa-copter with tilted propellers for example.

M. Hachem, C. Roos, T. Miquel and M. Bronz, "Full Pose Tracking via Robust Control for Over-Actuated Multirotors," 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 2025, pp. 5031-5038, doi: 10.1109/IROS60139.2025.11246553.

Definition in file guidance_indi_fully_actuated.c.

Macro Definition Documentation

GUIDANCE_INDI_MAX_H_THRUST

#define GUIDANCE_INDI_MAX_H_THRUST   2.f

Definition at line 41 of file guidance_indi_fully_actuated.c.

GUIDANCE_INDI_MAX_V_THRUST

#define GUIDANCE_INDI_MAX_V_THRUST   15.f

Definition at line 45 of file guidance_indi_fully_actuated.c.

Function Documentation

guidance_indi_calcG()

void guidance_indi_calcG	(	float	Gmat[3][6],
		const struct FloatQuat *	att
	)

Parameters

Gmat	array to write the matrix to [3x6]

Calculate the matrix of partial derivatives of the pitch, roll and thrust. w.r.t. the NED accelerations for YXZ eulers ddx = G*[dphi,dtheta,dpsi,dTx,dTy,dTz]

Definition at line 58 of file guidance_indi_fully_actuated.c.

References float_eulers_of_quat_yxz(), foo, Gmat, stab_thrust_filt, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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guidance_indi_set_wls_settings()

void guidance_indi_set_wls_settings	(	struct WLS_t *	wls,
		const struct FloatQuat *	att,
		const float	heading_sp
	)

Definition at line 106 of file guidance_indi_fully_actuated.c.

References float_eulers_of_quat_yxz(), foo, guidance_indi_max_bank, guidance_indi_max_h_thrust, guidance_indi_max_v_thrust, MAX_PPRZ, FloatEulers::phi, radio_control_get(), RADIO_PITCH, RADIO_ROLL, stab_thrust_filt, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_run().

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guidance_set_rc_h_att()

struct StabilizationSetpoint guidance_set_rc_h_att

(

struct StabilizationSetpoint *

a_sp

)

Set flat attitude setpoint from RC Heading setpoint is kept.

Definition at line 152 of file guidance_indi_fully_actuated.c.

References foo, FloatEulers::phi, stab_sp_from_eulers_f(), stab_sp_to_eulers_f(), and FloatEulers::theta.

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guidance_set_rc_h_thrust()

struct ThrustSetpoint guidance_set_rc_h_thrust

(

struct ThrustSetpoint *

v_sp

)

Set horizontal thrust from RC Horizontal is passed as an argument.

Definition at line 143 of file guidance_indi_fully_actuated.c.

References foo, MAX_PPRZ, radio_control_get(), RADIO_PITCH, RADIO_ROLL, th_sp_from_thrust_vect_f(), th_sp_to_thrust_f(), and THRUST_AXIS_Z.

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Variable Documentation

guidance_indi_max_h_thrust

float guidance_indi_max_h_thrust = GUIDANCE_INDI_MAX_H_THRUST

Definition at line 48 of file guidance_indi_fully_actuated.c.

Referenced by guidance_indi_set_wls_settings().

guidance_indi_max_v_thrust

float guidance_indi_max_v_thrust = GUIDANCE_INDI_MAX_V_THRUST

Definition at line 49 of file guidance_indi_fully_actuated.c.

Referenced by guidance_indi_set_wls_settings().