Guidance in a module file. More...

#include "generated/modules.h"

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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 <autopilot name="rotorcraft_control_loop"> 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.