guidance_module.h File Reference

Guidance in a module file. More...

#include "generated/modules.h"

Include dependency graph for guidance_module.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Detailed Description

Guidance in a module file.

Implement a custom controller in a module. Re-use desired modes:

e.g.: define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_HOVER can be used to only define a horizontal control in the module and use normal z_hold

The guidance that the module implement must be activated with following defines:

a) Implement own loops

• void guidance_module_enter(void);
• void guidance_module_run(bool in_flight);

b) Use or copy the generated autopilot file 'conf/autopilot/rotorcraft_control_loop.xml'

• load custom autopilot from your airframe filewith by adding to the firmware section

If the module implements both V and H mode, take into account that the V is called first and later H

Definition in file guidance_module.h.