Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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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"
Go to the source code of this file.
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 More... | |
void | guidance_pid_set_v_igain (uint32_t igain) |
const struct Int32Vect2 * | guidance_pid_get_h_pos_err (void) |
Gets the position error. More... | |
Variables | |
struct GuidancePID | guidance_pid |
Guidance PID structyre. More... | |
Guidance controller with PID for rotorcrafts.
Definition in file guidance_pid.h.
struct GuidancePID |
const struct Int32Vect2* guidance_pid_get_h_pos_err | ( | void | ) |
Gets the position error.
none. |
Definition at line 417 of file guidance_pid.c.
References guidance_pid_pos_err.
void guidance_pid_h_enter | ( | void | ) |
Definition at line 389 of file guidance_pid.c.
References RotorcraftNavigation::heading, nav, FloatEulers::psi, and stateGetNedToBodyEulers_f().
struct StabilizationSetpoint guidance_pid_h_run_accel | ( | bool | in_flight, |
struct HorizontalGuidance * | gh | ||
) |
struct StabilizationSetpoint guidance_pid_h_run_pos | ( | bool | in_flight, |
struct HorizontalGuidance * | gh | ||
) |
Definition at line 184 of file guidance_pid.c.
struct StabilizationSetpoint guidance_pid_h_run_speed | ( | bool | in_flight, |
struct HorizontalGuidance * | gh | ||
) |
Definition at line 184 of file guidance_pid.c.
void guidance_pid_init | ( | void | ) |
Definition at line 184 of file guidance_pid.c.
void guidance_pid_set_h_igain | ( | uint32_t | igain | ) |
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.
void guidance_pid_set_v_igain | ( | uint32_t | igain | ) |
Definition at line 410 of file guidance_pid.c.
References guidance_pid, guidance_pid_z_sum_err, and GuidancePID::v_ki.
void guidance_pid_v_enter | ( | void | ) |
Definition at line 395 of file guidance_pid.c.
References guidance_pid_z_sum_err.
struct ThrustSetpoint guidance_pid_v_run_accel | ( | bool | in_flight, |
struct VerticalGuidance * | gv | ||
) |
struct ThrustSetpoint guidance_pid_v_run_pos | ( | bool | in_flight, |
struct VerticalGuidance * | gv | ||
) |
Definition at line 184 of file guidance_pid.c.
struct ThrustSetpoint guidance_pid_v_run_speed | ( | bool | in_flight, |
struct VerticalGuidance * | gv | ||
) |
Definition at line 184 of file guidance_pid.c.
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extern |
Guidance PID structyre.
Definition at line 1 of file guidance_pid.c.
Referenced by guidance_pid_h_run(), guidance_pid_set_h_igain(), guidance_pid_set_v_igain(), send_hover_loop(), and send_vert_loop().