30 #ifndef GUIDANCE_OPTICFLOW_HOVER_H_
31 #define GUIDANCE_OPTICFLOW_HOVER_H_
float err_vx_int
The integrated velocity error in x direction (m/s)
struct Int32Eulers cmd
The commands that are send to the hover loop.
float err_vy_int
The integrated velocity error in y direction (m/s)
int32_t theta_pgain
The pitch P gain on the err_vy.
int32_t theta_igain
The pitch I gain on the err_vy_int.
float desired_vy
The desired velocity in the y direction (cm/s)
float desired_vx
The desired velocity in the x direction (cm/s)
int32_t phi_pgain
The roll P gain on the err_vx.
int32_t phi_igain
The roll I gain on the err_vx_int.
struct opticflow_stab_t opticflow_stab
void guidance_opticflow_hover_init(void)
Initialization of horizontal guidance module.
void guidance_module_enter(void)
Entering the module (user switched to module)
void guidance_module_run(bool in_flight)
Main guidance loop.
Paparazzi fixed point algebra.
int int32_t
Typedef defining 32 bit int type.