Paparazzi UAS  v5.15_devel-79-g48e7b20
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guidance_v_n.c File Reference

"New" vertical control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "firmwares/fixedwing/guidance/guidance_v_n.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/airframe.h"
#include "autopilot.h"
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Go to the source code of this file.

Macros

#define V_CTL_AUTO_THROTTLE_DGAIN   0.
 
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   0.4
 
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   (RadOfDeg(10.))
 
#define V_CTL_AUTO_PITCH_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_IGAIN   0.
 
#define V_CTL_PITCH_TRIM   0.
 
#define V_CTL_AUTO_CLIMB_LIMIT   (0.5/4.0)
 
#define LEAD_CTRL_TAU   0.8
 outer loop More...
 
#define LEAD_CTRL_A   1.
 
#define LEAD_CTRL_Te   (1./60.)
 
#define V_CTL_THROTTLE_SLEW   (1.)
 

Functions

void v_ctl_init (void)
 
void v_ctl_guidance_loop (void)
 General guidance logic This will call the proper control loops according to the sub-modes. More...
 
void v_ctl_altitude_loop (void)
 outer loop More...
 
static void v_ctl_set_pitch (void)
 
static void v_ctl_set_throttle (void)
 
void v_ctl_climb_loop (void)
 Auto-throttle inner loop. More...
 
void v_ctl_throttle_slew (void)
 Computes slewed throttle from throttle setpoint called at 20Hz. More...
 

Variables

uint8_t v_ctl_mode
 
float v_ctl_altitude_setpoint
 in meters above MSL More...
 
float v_ctl_altitude_pre_climb
 Path Angle. More...
 
float v_ctl_altitude_pgain
 
float v_ctl_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
float v_ctl_climb_setpoint
 
uint8_t v_ctl_climb_mode
 
uint8_t v_ctl_auto_throttle_submode
 
float v_ctl_auto_throttle_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_throttle
 
float v_ctl_auto_throttle_min_cruise_throttle
 
float v_ctl_auto_throttle_max_cruise_throttle
 
float v_ctl_auto_throttle_climb_throttle_increment
 
float v_ctl_auto_throttle_pgain
 
float v_ctl_auto_throttle_igain
 
float v_ctl_auto_throttle_dgain
 
float v_ctl_auto_throttle_sum_err
 
float v_ctl_auto_throttle_pitch_of_vz_pgain
 
float v_ctl_auto_throttle_pitch_of_vz_dgain
 
float v_ctl_auto_pitch_pgain
 
float v_ctl_auto_pitch_dgain
 
float v_ctl_auto_pitch_igain
 
float v_ctl_auto_pitch_sum_err
 
float controlled_throttle
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 
float v_ctl_pitch_setpoint
 
float v_ctl_pitch_trim
 
uint8_t v_ctl_speed_mode
 

Detailed Description

"New" vertical control for fixed wing vehicles.

Definition in file guidance_v_n.c.

Macro Definition Documentation

#define LEAD_CTRL_A   1.

Definition at line 227 of file guidance_v_n.c.

#define LEAD_CTRL_TAU   0.8

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 226 of file guidance_v_n.c.

#define LEAD_CTRL_Te   (1./60.)

Definition at line 228 of file guidance_v_n.c.

#define V_CTL_AUTO_CLIMB_LIMIT   (0.5/4.0)

Definition at line 96 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop().

#define V_CTL_AUTO_PITCH_DGAIN   0.

Definition at line 79 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_PITCH_IGAIN   0.

Definition at line 82 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   (RadOfDeg(10.))

Definition at line 76 of file guidance_v_n.c.

Referenced by v_ctl_set_pitch().

#define V_CTL_AUTO_THROTTLE_DGAIN   0.

Definition at line 50 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   0.4

Definition at line 63 of file guidance_v_n.c.

Referenced by v_ctl_set_throttle().

#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.

Definition at line 68 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_PITCH_TRIM   0.

Definition at line 90 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_THROTTLE_SLEW   (1.)

Definition at line 426 of file guidance_v_n.c.

Referenced by v_ctl_throttle_slew().

Function Documentation

void v_ctl_altitude_loop ( void  )

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 230 of file guidance_v_n.c.

References UtmCoor_f::alt, STALL_AIRSPEED, stateGetPositionUtm_f(), v_ctl_altitude_error, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_setpoint, V_CTL_AUTO_CLIMB_LIMIT, v_ctl_climb_setpoint, and v_ctl_max_climb.

Referenced by v_ctl_guidance_loop().

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void v_ctl_climb_loop ( void  )

Auto-throttle inner loop.

Definition at line 390 of file guidance_v_n.c.

References ac_char_update(), accel_imu_meas, ACCELS_FLOAT_OF_BFP, AIRSPEED_SETPOINT_SLEW, autopilot, autopilot_throttle_killed(), controlled_throttle, dt_attidude, float_quat_vmult(), imu_to_body_quat, pprz_autopilot::launch, low_pass_vdot(), MAX_PPRZ, nav_pitch, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetSpeedEnu_f(), TRIM_UPPRZ, v_ctl_airspeed_pgain, v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, v_ctl_auto_airspeed_setpoint_slew, v_ctl_auto_groundspeed_igain, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR, v_ctl_auto_groundspeed_pgain, v_ctl_auto_groundspeed_setpoint, v_ctl_auto_groundspeed_sum_err, v_ctl_auto_pitch_of_airspeed_dgain, v_ctl_auto_pitch_of_airspeed_igain, v_ctl_auto_pitch_of_airspeed_pgain, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_nominal_cruise_pitch, v_ctl_auto_throttle_nominal_cruise_throttle, v_ctl_auto_throttle_of_airspeed_igain, v_ctl_auto_throttle_of_airspeed_pgain, v_ctl_auto_throttle_pitch_of_vz_pgain, v_ctl_climb_setpoint, v_ctl_desired_acceleration, v_ctl_energy_diff_igain, v_ctl_energy_diff_pgain, v_ctl_energy_total_igain, v_ctl_energy_total_pgain, V_CTL_GLIDE_RATIO, v_ctl_max_acceleration, v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, v_ctl_pitch_setpoint, v_ctl_set_pitch(), v_ctl_set_throttle(), V_CTL_SPEED_AIRSPEED, V_CTL_SPEED_GROUNDSPEED, v_ctl_speed_mode, V_CTL_SPEED_THROTTLE, v_ctl_throttle_setpoint, FloatVect3::x, and EnuCoor_f::z.

Referenced by v_ctl_guidance_loop().

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void v_ctl_init ( void  )

Definition at line 121 of file guidance_v_n.c.

References accel_cb(), body_to_imu_cb(), controlled_throttle, float_quat_identity(), imu_to_body_quat, v_ctl_airspeed_pgain, v_ctl_altitude_error, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_pitch_dgain, v_ctl_auto_airspeed_pitch_igain, v_ctl_auto_airspeed_pitch_pgain, v_ctl_auto_airspeed_pitch_sum_err, v_ctl_auto_airspeed_setpoint, v_ctl_auto_airspeed_setpoint_slew, v_ctl_auto_airspeed_throttle_dgain, v_ctl_auto_airspeed_throttle_igain, v_ctl_auto_airspeed_throttle_pgain, v_ctl_auto_airspeed_throttle_sum_err, v_ctl_auto_groundspeed_igain, v_ctl_auto_groundspeed_pgain, v_ctl_auto_groundspeed_setpoint, v_ctl_auto_groundspeed_sum_err, v_ctl_auto_pitch_dgain, V_CTL_AUTO_PITCH_DGAIN, v_ctl_auto_pitch_igain, V_CTL_AUTO_PITCH_IGAIN, v_ctl_auto_pitch_of_airspeed_dgain, v_ctl_auto_pitch_of_airspeed_igain, v_ctl_auto_pitch_of_airspeed_pgain, v_ctl_auto_pitch_pgain, v_ctl_auto_pitch_sum_err, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_DGAIN, v_ctl_auto_throttle_dgain, v_ctl_auto_throttle_igain, v_ctl_auto_throttle_max_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle, v_ctl_auto_throttle_nominal_cruise_pitch, v_ctl_auto_throttle_nominal_cruise_throttle, v_ctl_auto_throttle_of_airspeed_igain, v_ctl_auto_throttle_of_airspeed_pgain, v_ctl_auto_throttle_pgain, v_ctl_auto_throttle_pitch_of_vz_dgain, V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN, v_ctl_auto_throttle_pitch_of_vz_pgain, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_auto_throttle_sum_err, v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_THROTTLE, v_ctl_climb_setpoint, v_ctl_energy_diff_igain, v_ctl_energy_diff_pgain, V_CTL_ENERGY_IMU_ID, v_ctl_energy_total_igain, v_ctl_energy_total_pgain, v_ctl_max_acceleration, V_CTL_MAX_ACCELERATION, v_ctl_max_climb, v_ctl_mode, V_CTL_MODE_MANUAL, v_ctl_pitch_setpoint, V_CTL_PITCH_TRIM, v_ctl_pitch_trim, v_ctl_speed_mode, V_CTL_SPEED_THROTTLE, and v_ctl_throttle_setpoint.

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void v_ctl_throttle_slew ( void  )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 431 of file guidance_v_n.c.

References MAX_PPRZ, TRIM_PPRZ, v_ctl_throttle_setpoint, V_CTL_THROTTLE_SLEW, and v_ctl_throttle_slewed.

Variable Documentation

float controlled_throttle
float v_ctl_altitude_error

in meters, (setpoint - alt) -> positive = too low

Definition at line 42 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pgain

Definition at line 41 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb

Path Angle.

Definition at line 40 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 39 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_auto_pitch_dgain

Definition at line 73 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_igain

Definition at line 74 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_pgain

Definition at line 72 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_sum_err

Definition at line 75 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 58 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 54 of file guidance_v_n.c.

Referenced by v_ctl_climb_loop(), v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_dgain

Definition at line 61 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_igain

Definition at line 60 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_max_cruise_throttle

Definition at line 57 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_min_cruise_throttle

Definition at line 56 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 55 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_pgain

Definition at line 59 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_pitch_of_vz_dgain

Definition at line 65 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 64 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

uint8_t v_ctl_auto_throttle_submode

Definition at line 47 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_sum_err

Definition at line 62 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

uint8_t v_ctl_climb_mode

Definition at line 46 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_climb_setpoint
uint8_t v_ctl_mode

Definition at line 36 of file guidance_v_n.c.

Referenced by v_ctl_guidance_loop(), and v_ctl_init().

float v_ctl_pitch_setpoint

Definition at line 88 of file guidance_v_n.c.

Referenced by v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_pitch_trim

Definition at line 92 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

uint8_t v_ctl_speed_mode

Definition at line 99 of file guidance_v_n.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

pprz_t v_ctl_throttle_setpoint
pprz_t v_ctl_throttle_slewed

Definition at line 87 of file guidance_v_n.c.

Referenced by v_ctl_throttle_slew().