guidance_plane.h File Reference

Guidance controller for planes in rotorcraft firmware using basic PID controller no airspeed control. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	GuidancePlane

Functions
void	guidance_plane_init (void)
void	guidance_plane_enter (void)
struct StabilizationSetpoint	guidance_plane_attitude_from_nav (bool in_flight)
	run horizontal control loop for position and speed control
struct ThrustSetpoint	guidance_plane_thrust_from_nav (bool in_flight)
	run vertical control loop for position and speed control

Variables
struct GuidancePlane	guidance_plane
	Guidance PID structyre.

Detailed Description

Guidance controller for planes in rotorcraft firmware using basic PID controller no airspeed control.

Definition in file guidance_plane.h.

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Data Structure Documentation

GuidancePlane

struct GuidancePlane

Definition at line 39 of file guidance_plane.h.

Data Fields
float	altitude_setpoint
float	climb_kp
float	climb_max_setpoint
float	climb_setpoint
float	climb_throttle_increment
float	course_kd
float	course_kp
float	course_pre_bank_correction
float	course_setpoint
float	cruise_throttle
float	p_kd
float	p_ki
float	p_kp
float	pitch_cmd
float	pitch_max_setpoint
float	pitch_min_setpoint
float	pitch_of_vz
float	pitch_trim
float	roll_cmd
float	roll_max_setpoint
float	t_kd
float	t_ki
float	t_kp
int32_t	throttle_cmd

Function Documentation

guidance_plane_attitude_from_nav()

struct StabilizationSetpoint guidance_plane_attitude_from_nav ( bool  in_flight )

extern

run horizontal control loop for position and speed control

Definition at line 128 of file guidance_plane.c.

References RotorcraftNavigation::carrot, GuidancePlane::course_kd, GuidancePlane::course_kp, GuidancePlane::course_setpoint, float_eulers_of_quat(), foo, guidance_h, guidance_plane, RotorcraftNavigation::horizontal_mode, nav, NAV_HORIZONTAL_MODE_ATTITUDE, NAV_HORIZONTAL_MODE_GUIDED, NAV_HORIZONTAL_MODE_NONE, NAV_SETPOINT_MODE_ACCEL, NAV_SETPOINT_MODE_POS, NAV_SETPOINT_MODE_QUAT, NAV_SETPOINT_MODE_SPEED, FloatEulers::phi, RotorcraftNavigation::pitch, GuidancePlane::pitch_cmd, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, FloatEulers::psi, RotorcraftNavigation::quat, RotorcraftNavigation::roll, GuidancePlane::roll_cmd, GuidancePlane::roll_max_setpoint, RotorcraftNavigation::setpoint_mode, HorizontalGuidance::sp, RotorcraftNavigation::speed, stab_sp_from_eulers_f(), stateGetHorizontalSpeedDir_f(), stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetPositionNed_f(), FloatEulers::theta, waypoint_get_x(), waypoint_get_y(), Int32Vect2::x, EnuCoor_f::x, Int32Vect2::y, and EnuCoor_f::y.

Referenced by control_mixing_heewing_nav_run().

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guidance_plane_enter()

void guidance_plane_enter ( void  )

extern

Definition at line 276 of file guidance_plane.c.

References pitch_sum_err, and throttle_sum_err.

guidance_plane_init()

void guidance_plane_init ( void  )

extern

Definition at line 90 of file guidance_plane.c.

References GuidancePlane::altitude_setpoint, GuidancePlane::climb_kp, GuidancePlane::climb_max_setpoint, GuidancePlane::climb_setpoint, GuidancePlane::climb_throttle_increment, GuidancePlane::course_kd, GuidancePlane::course_kp, GuidancePlane::course_pre_bank_correction, GuidancePlane::course_setpoint, GuidancePlane::cruise_throttle, foo, GUIDANCE_PLANCE_COURSE_PRE_BANK, guidance_plane, GUIDANCE_PLANE_CLIMB_THROTTLE_INCREMENT, GUIDANCE_PLANE_MAX_BANK, GUIDANCE_PLANE_MAX_CLIMB, GUIDANCE_PLANE_MAX_PITCH, GUIDANCE_PLANE_MIN_PITCH, GUIDANCE_PLANE_PITCH_OF_VZ, GUIDANCE_PLANE_PITCH_TRIM, GuidancePlane::p_kd, GuidancePlane::p_ki, GuidancePlane::p_kp, GuidancePlane::pitch_cmd, GuidancePlane::pitch_max_setpoint, GuidancePlane::pitch_min_setpoint, GuidancePlane::pitch_of_vz, pitch_sum_err, GuidancePlane::pitch_trim, GuidancePlane::roll_cmd, GuidancePlane::roll_max_setpoint, GuidancePlane::t_kd, GuidancePlane::t_ki, GuidancePlane::t_kp, GuidancePlane::throttle_cmd, and throttle_sum_err.

guidance_plane_thrust_from_nav()

struct ThrustSetpoint guidance_plane_thrust_from_nav ( bool  in_flight )

extern

run vertical control loop for position and speed control

Definition at line 253 of file guidance_plane.c.

References GuidancePlane::altitude_setpoint, RotorcraftNavigation::climb, GuidancePlane::climb_kp, GuidancePlane::climb_max_setpoint, GuidancePlane::climb_setpoint, foo, guidance_plane, guidance_plane_set_pitch(), guidance_plane_set_throttle(), nav, RotorcraftNavigation::nav_altitude, NAV_VERTICAL_MODE_ALT, NAV_VERTICAL_MODE_CLIMB, NAV_VERTICAL_MODE_MANUAL, stateGetPositionEnu_f(), th_sp_from_thrust_i(), RotorcraftNavigation::throttle, GuidancePlane::throttle_cmd, THRUST_AXIS_X, RotorcraftNavigation::vertical_mode, and EnuCoor_f::z.

Referenced by control_mixing_heewing_nav_run().

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Variable Documentation

guidance_plane

struct GuidancePlane guidance_plane

extern

Guidance PID structyre.

Definition at line 73 of file guidance_plane.c.

Referenced by control_mixing_heewing_nav_run(), guidance_plane_attitude_from_nav(), guidance_plane_init(), guidance_plane_set_pitch(), guidance_plane_set_throttle(), and guidance_plane_thrust_from_nav().