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guidance_indi_hybrid.h File Reference

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to ICRA2016 to learn more! More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "filters/high_pass_filter.h"
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Data Structures

struct  guidance_indi_hybrid_params
 

Functions

void guidance_indi_enter (void)
 Call upon entering indi guidance. More...
 
void guidance_indi_run (float *heading_sp)
 
void stabilization_attitude_set_setpoint_rp_quat_f (struct FloatEulers *indi_rp_cmd, bool in_flight, int32_t heading)
 
void guidance_indi_init (void)
 Init function. More...
 
void guidance_indi_propagate_filters (void)
 Low pass the accelerometer measurements to remove noise from vibrations. More...
 

Variables

struct guidance_indi_hybrid_params gih_params
 

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to ICRA2016 to learn more!

Definition in file guidance_indi_hybrid.h.


Data Structure Documentation

struct guidance_indi_hybrid_params

Definition at line 44 of file guidance_indi_hybrid.h.

Data Fields
float pos_gain
float pos_gainz
float speed_gain
float speed_gainz

Function Documentation

void guidance_indi_enter ( void  )

Call upon entering indi guidance.

Definition at line 134 of file guidance_indi.c.

References filter_cutoff, init_butterworth_2_low_pass(), FloatEulers::phi, stabilization_cmd, stateGetNedToBodyEulers_f(), FloatEulers::theta, thrust_act, and thrust_in.

Referenced by guidance_h_mode_changed().

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void guidance_indi_init ( void  )

Init function.

Definition at line 125 of file guidance_indi.c.

References accel_sp_cb(), filter_cutoff, GUIDANCE_INDI_ACCEL_SP_ID, and init_butterworth_2_low_pass().

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void guidance_indi_propagate_filters ( void  )

Low pass the accelerometer measurements to remove noise from vibrations.

The roll and pitch also need to be filtered to synchronize them with the acceleration Called as a periodic function with PERIODIC_FREQ

Definition at line 420 of file guidance_indi_hybrid.c.

References ACCEL_FLOAT_OF_BFP, eulers_zxy, FloatEulers::phi, stateGetAccelBody_i(), stateGetAccelNed_f(), FloatEulers::theta, update_butterworth_2_low_pass(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by guidance_indi_run().

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void guidance_indi_run ( float *  heading_sp)
Parameters
heading_spthe desired heading [rad]

main indi guidance function

Definition at line 154 of file guidance_indi.c.

References ANGLE_BFP_OF_REAL, AP_MODE_NAV, autopilot, BFP_OF_REAL, control_increment, desired_airspeed, euler_cmd, eulers_zxy, FLOAT_ANGLE_NORMALIZE, float_eulers_of_quat_yxz(), float_eulers_of_quat_zxy(), float_quat_normalize(), float_quat_of_eulers_yxz(), float_quat_of_eulers_zxy(), FLOAT_VECT2_NORM, Ga, Ga_inv, get_sys_time_float(), guidance_euler_cmd, guidance_h, GUIDANCE_H_MAX_BANK, guidance_indi_calcg_wing(), guidance_indi_calcG_yxz(), guidance_indi_max_airspeed, guidance_indi_max_bank, guidance_indi_pos_gain, guidance_indi_propagate_filters(), guidance_indi_speed_gain, guidance_v_z_ref, indi_accel_sp_set_2d, indi_accel_sp_set_3d, INT32_ANGLE_FRAC, INT32_PERCENTAGE_FRAC, INT_MULT_RSHIFT, MAT33_INV, MAT33_VECT3_MUL, Min, pprz_autopilot::mode, nav_get_speed_setpoint(), SecondOrderLowPass::o, FloatEulers::phi, HorizontalGuidanceReference::pos, POS_FLOAT_OF_BFP, guidance_indi_hybrid_params::pos_gain, guidance_indi_hybrid_params::pos_gainz, FloatEulers::psi, QUAT_BFP_OF_REAL, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, HorizontalGuidance::ref, guidance_indi_hybrid_params::speed_gain, guidance_indi_hybrid_params::speed_gainz, stab_att_sp_quat, stabilization_cmd, stateGetAirspeed_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetSpeedNed_f(), FloatEulers::theta, thrust_in, THRUST_INCREMENT_ID, time_of_accel_sp_2d, time_of_accel_sp_3d, transition_percentage, transition_theta_offset, RadioControl::values, VECT2_DIFF, vect_bound_in_2d(), FloatVect2::x, FloatVect3::x, NedCoor_f::x, Int32Vect2::x, FloatVect2::y, FloatVect3::y, NedCoor_f::y, Int32Vect2::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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void stabilization_attitude_set_setpoint_rp_quat_f ( struct FloatEulers indi_rp_cmd,
bool  in_flight,
int32_t  heading 
)

Variable Documentation

struct guidance_indi_hybrid_params gih_params

Definition at line 64 of file guidance_indi_hybrid.c.