guidance_pid.h File Reference

Guidance controller with PID for rotorcrafts. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"

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Data Structures
struct	GuidancePID

Functions
void	guidance_pid_init (void)
void	guidance_pid_h_enter (void)
void	guidance_pid_v_enter (void)
struct StabilizationSetpoint	guidance_pid_h_run_pos (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_pid_h_run_speed (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_pid_h_run_accel (bool in_flight, struct HorizontalGuidance *gh)
struct ThrustSetpoint	guidance_pid_v_run_pos (bool in_flight, struct VerticalGuidance *gv)
struct ThrustSetpoint	guidance_pid_v_run_speed (bool in_flight, struct VerticalGuidance *gv)
struct ThrustSetpoint	guidance_pid_v_run_accel (bool in_flight, struct VerticalGuidance *gv)
void	guidance_pid_set_h_igain (uint32_t igain)
	settings handler
void	guidance_pid_set_v_igain (uint32_t igain)
const struct Int32Vect2 *	guidance_pid_get_h_pos_err (void)
	Gets the position error.

Variables
struct GuidancePID	guidance_pid
	Guidance PID structyre.

Detailed Description

Guidance controller with PID for rotorcrafts.

Definition in file guidance_pid.h.

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Data Structure Documentation

GuidancePID

struct GuidancePID

Definition at line 38 of file guidance_pid.h.

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Data Fields
bool	adapt_throttle_enabled
bool	approx_force_by_thrust
struct Int32Vect2	cmd_earth
int32_t	cmd_thrust
int32_t	ka
int32_t	kd
int32_t	ki
int32_t	kp
int32_t	kv
int32_t	v_kd
int32_t	v_ki
int32_t	v_kp

Function Documentation

guidance_pid_get_h_pos_err()

const struct Int32Vect2 * guidance_pid_get_h_pos_err ( void  )

extern

Gets the position error.

Parameters

none.

Returns

Pointer to a structure containing x and y position errors

Definition at line 417 of file guidance_pid.c.

References guidance_pid_pos_err.

guidance_pid_h_enter()

void guidance_pid_h_enter ( void  )

extern

Definition at line 389 of file guidance_pid.c.

References RotorcraftNavigation::heading, nav, FloatEulers::psi, and stateGetNedToBodyEulers_f().

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guidance_pid_h_run_accel()

struct StabilizationSetpoint guidance_pid_h_run_accel ( bool  in_flight, struct HorizontalGuidance *  gh  )

extern

guidance_pid_h_run_pos()

struct StabilizationSetpoint guidance_pid_h_run_pos ( bool  in_flight, struct HorizontalGuidance *  gh  )

extern

Definition at line 278 of file guidance_pid.c.

References foo, guidance_pid_h_run(), guidance_pid_pos_err, guidance_pid_speed_err, MAX_POS_ERR, MAX_SPEED_ERR, stateGetPositionNed_i(), stateGetSpeedNed_i(), VECT2_DIFF, and VECT2_STRIM.

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guidance_pid_h_run_speed()

struct StabilizationSetpoint guidance_pid_h_run_speed ( bool  in_flight, struct HorizontalGuidance *  gh  )

extern

Definition at line 294 of file guidance_pid.c.

References foo, guidance_pid_h_run(), guidance_pid_pos_err, guidance_pid_speed_err, INT_VECT2_ZERO, MAX_SPEED_ERR, stateGetSpeedNed_i(), VECT2_DIFF, and VECT2_STRIM.

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guidance_pid_init()

void guidance_pid_init ( void  )

extern

Definition at line 184 of file guidance_pid.c.

References GuidancePID::adapt_throttle_enabled, GuidancePID::approx_force_by_thrust, GuidancePID::cmd_earth, GuidancePID::cmd_thrust, DefaultPeriodic, foo, GUIDANCE_H_AGAIN, GUIDANCE_H_APPROX_FORCE_BY_THRUST, GUIDANCE_H_VGAIN, guidance_pid, guidance_pid_pos_err, guidance_pid_speed_err, guidance_pid_trim_att_integrator, guidance_pid_v_fb_cmd, guidance_pid_v_ff_cmd, guidance_pid_z_sum_err, GUIDANCE_V_ADAPT_THROTTLE_ENABLED, INT_VECT2_ZERO, GuidancePID::ka, GuidancePID::kd, GuidancePID::ki, GuidancePID::kp, GuidancePID::kv, register_periodic_telemetry(), send_hover_loop(), send_vert_loop(), GuidancePID::v_kd, GuidancePID::v_ki, and GuidancePID::v_kp.

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guidance_pid_set_h_igain()

void guidance_pid_set_h_igain ( uint32_t  igain )

extern

settings handler

Definition at line 404 of file guidance_pid.c.

References guidance_pid, guidance_pid_trim_att_integrator, INT_VECT2_ZERO, and GuidancePID::ki.

guidance_pid_set_v_igain()

void guidance_pid_set_v_igain ( uint32_t  igain )

extern

Definition at line 410 of file guidance_pid.c.

References guidance_pid, guidance_pid_z_sum_err, and GuidancePID::v_ki.

guidance_pid_v_enter()

void guidance_pid_v_enter ( void  )

extern

Definition at line 395 of file guidance_pid.c.

References guidance_pid_z_sum_err.

guidance_pid_v_run_accel()

struct ThrustSetpoint guidance_pid_v_run_accel ( bool  in_flight, struct VerticalGuidance *  gv  )

extern

guidance_pid_v_run_pos()

struct ThrustSetpoint guidance_pid_v_run_pos ( bool  in_flight, struct VerticalGuidance *  gv  )

extern

Definition at line 371 of file guidance_pid.c.

References foo, and guidance_pid_v_run().

Referenced by guidance_hybrid_v_run_pos().

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guidance_pid_v_run_speed()

struct ThrustSetpoint guidance_pid_v_run_speed ( bool  in_flight, struct VerticalGuidance *  gv  )

extern

Definition at line 376 of file guidance_pid.c.

References foo, and guidance_pid_v_run().

Referenced by guidance_hybrid_v_run_speed().

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Variable Documentation

guidance_pid

struct GuidancePID guidance_pid

extern

Guidance PID structyre.

Definition at line 124 of file guidance_pid.c.

Referenced by guidance_hybrid_vertical(), guidance_pid_h_run(), guidance_pid_init(), guidance_pid_set_h_igain(), guidance_pid_set_v_igain(), guidance_pid_v_run(), send_hover_loop(), and send_vert_loop().