Fully actuated plateform can be achieve with hexa-copter with tilted propellers for example TODO cite Mohamad Hachem. 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 1.f

#define	GUIDANCE_INDI_MAX_V_THRUST 15.f

Functions
static void	guidance_indi_calcG_yxz (float Gmat[3][6], struct FloatEulers euler_yxz)

void	guidance_indi_calcG (float Gmat[3][6], struct FloatEulers euler)
	Compute effectiveness matrix for guidance.

void	guidance_indi_set_wls_settings (struct WLS_t wls, struct FloatEulers euler_yxz, float heading_sp UNUSED)

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 TODO cite Mohamad Hachem.

Definition in file guidance_indi_fully_actuated.c.

Macro Definition Documentation

◆ GUIDANCE_INDI_MAX_H_THRUST

#define GUIDANCE_INDI_MAX_H_THRUST 1.f

Definition at line 38 of file guidance_indi_fully_actuated.c.

◆ GUIDANCE_INDI_MAX_V_THRUST

#define GUIDANCE_INDI_MAX_V_THRUST 15.f

Definition at line 42 of file guidance_indi_fully_actuated.c.

Function Documentation

◆ guidance_indi_calcG()

void guidance_indi_calcG	(	float	Gmat[3][6],
		struct FloatEulers	euler
	)

Compute effectiveness matrix for guidance.

Parameters

Gmat	Dynamics matrix

Definition at line 105 of file guidance_indi_fully_actuated.c.

References Gmat, and guidance_indi_calcG_yxz().

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◆ guidance_indi_calcG_yxz()

static void guidance_indi_calcG_yxz	(	float	Gmat[3][6],
		struct FloatEulers	euler_yxz
	)

static

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 55 of file guidance_indi_fully_actuated.c.

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

Referenced by guidance_indi_calcG().

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