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)
int32_t	guidance_pid_v_run_pos (bool in_flight, struct VerticalGuidance *gv)
int32_t	guidance_pid_v_run_speed (bool in_flight, struct VerticalGuidance *gv)
int32_t	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...

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

)

Gets the position error.

Parameters

none.

Returns

Pointer to a structure containing x and y position errors

Definition at line 415 of file guidance_pid.c.

References guidance_pid_pos_err.

guidance_pid_h_enter()

void guidance_pid_h_enter

(

void

)

Definition at line 387 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
	)

guidance_pid_h_run_pos()

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

Definition at line 184 of file guidance_pid.c.

guidance_pid_h_run_speed()

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

Definition at line 184 of file guidance_pid.c.

guidance_pid_init()

void guidance_pid_init

(

void

)

Definition at line 184 of file guidance_pid.c.

guidance_pid_set_h_igain()

void guidance_pid_set_h_igain

(

uint32_t

igain

)

settings handler

Definition at line 402 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

)

Definition at line 408 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

)

Definition at line 393 of file guidance_pid.c.

References guidance_pid_z_sum_err.

guidance_pid_v_run_accel()

int32_t guidance_pid_v_run_accel	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

guidance_pid_v_run_pos()

int32_t guidance_pid_v_run_pos	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

Definition at line 371 of file guidance_pid.c.

References guidance_pid_v_run().

Referenced by guidance_hybrid_v_run_pos().

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guidance_pid_v_run_speed()

int32_t guidance_pid_v_run_speed	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

Definition at line 376 of file guidance_pid.c.

References 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 1 of file guidance_pid.c.

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