guidance_indi module

Guidance controller for rotorcraft using INDI

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Example for airframe file

Add to your firmware section:

<module name="guidance_indi"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_indi_init()
• guidance_indi_enter()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_indi.h

Source Files

• /guidance/guidance_indi.c

Raw guidance_indi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi" dir="guidance" task="control">
  <doc>
    <description>
      Guidance controller for rotorcraft using INDI
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="guidance_indi">
        <dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
        <dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
        <dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation,guidance_rotorcraft</depends>
    <provides>guidance,attitude_command</provides>
  </dep>
  <header>
    <file name="guidance_indi.h"/>
  </header>
  <init fun="guidance_indi_init()"/>
  <init fun="guidance_indi_enter()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_indi.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
    <define name="GUIDANCE_INDI_USE_AS_DEFAULT" value="TRUE"/>
  </makefile>
</module>