guidance_indi_hybrid_quadplane.c File Reference

#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "filters/low_pass_filter.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"

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Macros
#define	GUIDANCE_INDI_BODYZ_FILTER_CUTOFF   3.0
#define	GUIDANCE_INDI_PITCH_EFF_SCALING   1.0

Functions
void	guidance_indi_quadplane_init (void)
	Call upon entering indi guidance.
void	guidance_indi_quadplane_propagate_filters (void)
	Low pass the accelerometer measurements to remove noise from vibrations.
void	guidance_indi_calcg_wing (float Gmat[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U], struct FloatVect3 a_diff, float body_v[GUIDANCE_INDI_HYBRID_V])
	Perform WLS.
void WEAK	guidance_indi_hybrid_set_wls_settings (float body_v[3], float roll_angle, float pitch_angle)
bool	autopilot_in_flight_end_detection (bool motors_on UNUSED)
	Quadplanes can still be in-flight with COMMAND_THRUST==0 and can even soar not descending in updrafts with all thrust off.

Variables
Butterworth2LowPass	accel_bodyz_filt

Macro Definition Documentation

GUIDANCE_INDI_BODYZ_FILTER_CUTOFF

#define GUIDANCE_INDI_BODYZ_FILTER_CUTOFF   3.0

Definition at line 51 of file guidance_indi_hybrid_quadplane.c.

GUIDANCE_INDI_PITCH_EFF_SCALING

#define GUIDANCE_INDI_PITCH_EFF_SCALING   1.0

Function Documentation

autopilot_in_flight_end_detection()

bool autopilot_in_flight_end_detection

(

bool motors_on

UNUSED

)

Quadplanes can still be in-flight with COMMAND_THRUST==0 and can even soar not descending in updrafts with all thrust off.

Definition at line 158 of file guidance_indi_hybrid_quadplane.c.

guidance_indi_calcg_wing()

void guidance_indi_calcg_wing	(	float	Gmat[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U],
		struct FloatVect3	a_diff,
		float	body_v[GUIDANCE_INDI_HYBRID_V]
	)

Perform WLS.

Parameters

Gmat	Dynamics matrix
a_diff	acceleration errors in earth frame
body_v	3D vector to write the control objective v

Definition at line 86 of file guidance_indi_hybrid_quadplane.c.

guidance_indi_hybrid_set_wls_settings()

void guidance_indi_hybrid_set_wls_settings	(	float	body_v[3],
		float	roll_angle,
		float	pitch_angle
	)

Definition at line 130 of file guidance_indi_hybrid_quadplane.c.

References Stabilization::cmd, foo, g1g2, guidance_indi_max_bank, GUIDANCE_INDI_MAX_PITCH, GUIDANCE_INDI_MIN_PITCH, guidance_indi_pitch_pref_deg, guidance_indi_thrust_z_eff, MAX_PPRZ, and stabilization.

Referenced by guidance_indi_run().

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guidance_indi_quadplane_init()

void guidance_indi_quadplane_init

(

void

)

Call upon entering indi guidance.

Definition at line 61 of file guidance_indi_hybrid_quadplane.c.

References accel_bodyz_filt, foo, GUIDANCE_INDI_BODYZ_FILTER_CUTOFF, and init_butterworth_2_low_pass().

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guidance_indi_quadplane_propagate_filters()

void guidance_indi_quadplane_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 73 of file guidance_indi_hybrid_quadplane.c.

References accel_bodyz_filt, ACCEL_FLOAT_OF_BFP, foo, stateGetAccelBody_i(), and update_butterworth_2_low_pass().

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Variable Documentation

accel_bodyz_filt

Butterworth2LowPass accel_bodyz_filt

Definition at line 55 of file guidance_indi_hybrid_quadplane.c.

Referenced by guidance_indi_calcg_wing(), guidance_indi_quadplane_init(), and guidance_indi_quadplane_propagate_filters().