guidance_indi_hinf.c File Reference

#include "firmwares/rotorcraft/guidance/guidance_indi.h"
#include "math/pprz_algebra_float.h"
#include "state.h"

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Functions
struct FloatVect3	guidance_indi_controller (bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndi_HMode h_mode, enum GuidanceIndi_VMode v_mode)
	Acceleration controller based Hinfinity.

Variables
static float	Ap = GUIDANCE_INDI_HINF_Ap
static float	Bp = GUIDANCE_INDI_HINF_Bp
static float	Cp = GUIDANCE_INDI_HINF_Cp
static float	Dp = GUIDANCE_INDI_HINF_Dp
static float	Ad = GUIDANCE_INDI_HINF_Ad
static float	Bd = GUIDANCE_INDI_HINF_Bd
static float	Cd = GUIDANCE_INDI_HINF_Cd
static float	Dd = GUIDANCE_INDI_HINF_Dd
static float	Apz = GUIDANCE_INDI_HINF_Apz
static float	Bpz = GUIDANCE_INDI_HINF_Bpz
static float	Cpz = GUIDANCE_INDI_HINF_Cpz
static float	Dpz = GUIDANCE_INDI_HINF_Dpz
static float	Adz = GUIDANCE_INDI_HINF_Adz
static float	Bdz = GUIDANCE_INDI_HINF_Bdz
static float	Cdz = GUIDANCE_INDI_HINF_Cdz
static float	Ddz = GUIDANCE_INDI_HINF_Ddz
static struct FloatVect3	pos_state = { 0 }
static struct FloatVect3	speed_state = { 0 }

Function Documentation

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
	)

Acceleration controller based Hinfinity.

Definition at line 51 of file guidance_indi_hinf.c.

References Ad, Adz, Ap, Apz, Bd, Bdz, Bp, Bpz, Cd, Cdz, Cp, Cpz, Dd, Ddz, Dp, Dpz, FLOAT_VECT3_ZERO, foo, GUIDANCE_INDI_H_ACCEL, GUIDANCE_INDI_H_SPEED, GUIDANCE_INDI_V_ACCEL, GUIDANCE_INDI_V_SPEED, POS_FLOAT_OF_BFP, pos_state, SPEED_FLOAT_OF_BFP, speed_sp, speed_state, stateGetPositionNed_f(), stateGetSpeedNed_f(), FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

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Variable Documentation

Ad

float Ad = GUIDANCE_INDI_HINF_Ad

static

Definition at line 31 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_rate_controller().

Adz

float Adz = GUIDANCE_INDI_HINF_Adz

static

Definition at line 41 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Ap

float Ap = GUIDANCE_INDI_HINF_Ap

static

Definition at line 26 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_attitude_controller().

Apz

float Apz = GUIDANCE_INDI_HINF_Apz

static

Definition at line 36 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Bd

float Bd = GUIDANCE_INDI_HINF_Bd

static

Definition at line 32 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_rate_controller().

Bdz

float Bdz = GUIDANCE_INDI_HINF_Bdz

static

Definition at line 42 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Bp

float Bp = GUIDANCE_INDI_HINF_Bp

static

Definition at line 27 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_attitude_controller().

Bpz

float Bpz = GUIDANCE_INDI_HINF_Bpz

static

Definition at line 37 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Cd

float Cd = GUIDANCE_INDI_HINF_Cd

static

Definition at line 33 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_rate_controller().

Cdz

float Cdz = GUIDANCE_INDI_HINF_Cdz

static

Definition at line 43 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Cp

float Cp = GUIDANCE_INDI_HINF_Cp

static

Definition at line 28 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_attitude_controller().

Cpz

float Cpz = GUIDANCE_INDI_HINF_Cpz

static

Definition at line 38 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Dd

float Dd = GUIDANCE_INDI_HINF_Dd

static

Definition at line 34 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_rate_controller().

Ddz

float Ddz = GUIDANCE_INDI_HINF_Ddz

static

Definition at line 44 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

Dp

float Dp = GUIDANCE_INDI_HINF_Dp

static

Definition at line 29 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller(), and stabilization_indi_attitude_controller().

Dpz

float Dpz = GUIDANCE_INDI_HINF_Dpz

static

Definition at line 39 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

pos_state

struct FloatVect3 pos_state = { 0 }

static

Definition at line 46 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().

speed_state

struct FloatVect3 speed_state = { 0 }

static

Definition at line 47 of file guidance_indi_hinf.c.

Referenced by guidance_indi_controller().