guidance_indi_hybrid_tailsitter.c File Reference

#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid_tailsitter.h"
#include "state.h"
#include "generated/modules.h"

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Macros
#define	GUIDANCE_INDI_PITCH_EFF_SCALING   1.0

Functions
void	guidance_indi_calcg_wing (float Gmat[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U], struct FloatVect3 a_diff, float v_gih[GUIDANCE_INDI_HYBRID_V])
	Calculate the matrix of partial derivatives of the roll, pitch and thrust w.r.t.

Macro Definition Documentation

GUIDANCE_INDI_PITCH_EFF_SCALING

#define GUIDANCE_INDI_PITCH_EFF_SCALING   1.0

Function Documentation

guidance_indi_calcg_wing()

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

Calculate the matrix of partial derivatives of the roll, pitch and thrust w.r.t.

Perform WLS.

the NED accelerations, taking into account the lift of a wing that is horizontal at -90 degrees pitch

Parameters

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

Definition at line 41 of file guidance_indi_hybrid_tailsitter.c.

References accel_bodyz_filt, eulers_zxy, float_eulers_of_quat_zxy(), foo, guidance_indi_get_liftd(), GUIDANCE_INDI_PITCH_EFF_SCALING, SecondOrderLowPass::o, FloatEulers::phi, FloatEulers::psi, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, and v_gih.

Referenced by guidance_indi_run().

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