guidance_indi_hybrid_quadplane module

Guidance controller for hybrid quadplane vehicles

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_indi_hybrid_quadplane"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_indi_quadplane_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• guidance_indi_quadplane_propagate_filters()
  • Frequency in Hz: PERIODIC_FREQUENCY
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• guidance_indi_hybrid_quadplane.h

Source Files

• /guidance/guidance_indi_hybrid_quadplane.c

Raw guidance_indi_hybrid_quadplane.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi_hybrid_quadplane" dir="guidance" task="control">
  <doc>
    <description>
      Guidance controller for hybrid quadplane vehicles
    </description>
  </doc>
  <dep>
    <depends>guidance_indi_hybrid</depends>
    <conflicts>guidance_indi_hybrid_tailsitter</conflicts>
    <provides>guidance,attitude_command</provides>
  </dep>
  <header>
    <file name="guidance_indi_hybrid_quadplane.h"/>
  </header>
  <init fun="guidance_indi_quadplane_init()"/>
  <periodic fun="guidance_indi_quadplane_propagate_filters()" freq="PERIODIC_FREQUENCY" autorun="TRUE"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <define name="GUIDANCE_INDI_HYBRID_USE_WLS" value="1"/>
    <!-- Guidance actuators: (roll, pitch, thrust, push) for quadplanes  -->
    <define name="GUIDANCE_INDI_HYBRID_U" value="4"/>
    <!-- Guidance control objectives: ax, ay, ay for quadplanes -->
    <define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
    <file name="guidance_indi_hybrid_quadplane.c" dir="$(SRC_FIRMWARE)/guidance"/>
  </makefile>
</module>