Paparazzi UAS v7.1_unstable
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Data Structures | Macros | Enumerations | Functions | Variables
oneloop_andi.h File Reference
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
#include "generated/airframe.h"
#include "filters/low_pass_filter.h"
#include "filters/notch_filter_float.h"
+ Include dependency graph for oneloop_andi.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  guidance_indi_hybrid_params
 
struct  OneloopGuidanceRef
 
struct  OneloopGuidanceState
 
struct  OneloopStabilizationRef
 
struct  OneloopStabilizationState
 
struct  OneloopGeneral
 
struct  PolePlacement
 
struct  Gains3rdOrder
 
struct  Gains2ndOrder
 
struct  LP_t
 
struct  Oneloop_LP_t
 
struct  Oneloop_DynFilt_t
 
union  LP_t.meas_filt
 

Macros

#define ANDI_NUM_ACT   COMMANDS_NB_REAL
 
#define ANDI_NUM_VIRTUAL_ACT   COMMANDS_NB_VIRTUAL
 
#define ANDI_NUM_VIRTUAL_ACT   2
 
#define ANDI_NUM_ACT_TOT   (ANDI_NUM_ACT + ANDI_NUM_VIRTUAL_ACT)
 
#define ANDI_OUTPUTS   6
 
#define ANDI_G_SCALING   1000.0f
 
#define CTRL_ANDI   0
 Control types.
 
#define CTRL_INDI   1
 

Enumerations

enum  FilterType { LOWPASS_1 , BUTTERWORTH_2 , BUTTERWORTH_4 , NOTCH }
 

Functions

void oneloop_andi_init (void)
 Init function of Oneloop ANDI controller

 
void oneloop_andi_enter (bool half_loop_sp, int ctrl_type)
 Function that resets important values upon engaging Oneloop ANDI.
 
void oneloop_andi_set_failsafe_setpoint (void)
 
void oneloop_andi_run (bool in_flight, bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v)
 Main function that runs the controller and performs control allocation.
 
void oneloop_andi_RM (bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v, bool in_flight_oneloop)
 Function to generate the reference signals for the oneloop controller.
 
void oneloop_andi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 
void oneloop_from_nav (bool in_flight)
 Function that maps navigation inputs to the oneloop controller for the generated autopilot.
 
void guidance_set_min_max_airspeed (float min_airspeed, float max_airspeed)
 
void guidance_set_max_bank_angle (float max_bank)
 Guidance limit setters called by rotwing_state (also implemented by guidance_indi_hybrid).
 
void guidance_set_max_climb_speed (float max_climb_speed_quad, float max_climb_speed_fwd)
 
void guidance_set_max_descend_speed (float max_descend_speed_quad, float max_descend_speed_fwd)
 

Variables

float k_P
 
float k_D
 
float k1_NE_tune
 
float k2_NE_tune
 
bool ctrl_off
 
float act_state_filt_vect_1l [ANDI_NUM_ACT]
 
float actuator_state_1l [ANDI_NUM_ACT_TOT]
 
float nu [6]
 
float g1g2_1l [ANDI_OUTPUTS][ANDI_NUM_ACT_TOT]
 
float andi_u [ANDI_NUM_ACT_TOT]
 
float andi_du [ANDI_NUM_ACT_TOT]
 
float psi_des_deg
 
bool heading_manual
 
bool yaw_stick_in_auto
 
float fwd_sideslip_gain
 
struct FloatEulers eulers_zxy_des
 
float psi_des_rad
 
float max_as
 
float gi_unbounded_airspeed_sp
 
float oneloop_andi_sigma
 
bool use_dyn_filter
 
bool chirp_on
 
bool multiple_chirp_run
 
float f0_chirp
 
float f1_chirp
 
float t_chirp
 
float A_chirp
 
int8_t chirp_axis
 
bool drop_yaw
 
struct guidance_indi_hybrid_params gih_params
 
struct OneloopGeneral oneloop_andi
 
struct PolePlacement p_att_e
 
struct PolePlacement p_att_rm
 
struct PolePlacement p_pos_e
 
struct PolePlacement p_pos_rm
 
struct PolePlacement p_alt_e
 
struct PolePlacement p_alt_rm
 
struct PolePlacement p_head_e
 
struct PolePlacement p_head_rm
 
struct Gains3rdOrder k_att_e
 
struct Gains3rdOrder k_att_rm
 
struct Gains2ndOrder k_head_e
 
struct Gains2ndOrder k_head_rm
 
struct Gains3rdOrder k_pos_e
 
struct Gains3rdOrder k_pos_rm
 
struct Oneloop_LP_t LP
 

Detailed Description

Author
Tomaso De Ponti tmlde.nosp@m.pont.nosp@m.i@tud.nosp@m.elft.nosp@m..nl One loop (Guidance + Stabilization) ANDI controller for rotorcrafts
Tomaso De Ponti tmlde.nosp@m.pont.nosp@m.i@tud.nosp@m.elft.nosp@m..nl One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C

Definition in file oneloop_andi.h.

Data Structure Documentation

◆ guidance_indi_hybrid_params

struct guidance_indi_hybrid_params

Definition at line 80 of file guidance_indi_hybrid.h.

Data Fields
float climb_vspeed_fwd
float climb_vspeed_quad
float descend_vspeed_fwd
float descend_vspeed_quad
float heading_bank_gain
float liftd_asq
float liftd_p50
float liftd_p80
float max_airspeed
float min_airspeed
float pos_gain
float pos_gainz
float speed_gain
float speed_gainz
float stall_protect_gain

◆ OneloopGuidanceRef

struct OneloopGuidanceRef

Definition at line 110 of file oneloop_andi.h.

Data Fields
float acc[3]
float jer[3]
float pos[3]
float vel[3]

◆ OneloopGuidanceState

struct OneloopGuidanceState

Definition at line 116 of file oneloop_andi.h.

Data Fields
float acc[3]
float pos[3]
float vel[3]

◆ OneloopStabilizationRef

struct OneloopStabilizationRef

Definition at line 121 of file oneloop_andi.h.

Data Fields
float att[3]
float att_2d[3]
float att_3d[3]
float att_d[3]

◆ OneloopStabilizationState

struct OneloopStabilizationState

Definition at line 127 of file oneloop_andi.h.

Data Fields
float att[3]
float att_2d[3]
float att_d[3]

◆ OneloopGeneral

struct OneloopGeneral

Definition at line 132 of file oneloop_andi.h.

+ Collaboration diagram for OneloopGeneral:
Data Fields
int ctrl_type
struct OneloopGuidanceRef gui_ref
struct OneloopGuidanceState gui_state
bool half_loop
struct OneloopPushnB push_nB
struct OneloopStabilizationnBState sta_nB_state
struct OneloopStabilizationRef sta_ref
struct OneloopStabilizationState sta_state

◆ PolePlacement

struct PolePlacement

Definition at line 143 of file oneloop_andi.h.

Data Fields
float omega_n
float p3
float zeta

◆ Gains3rdOrder

struct Gains3rdOrder

Definition at line 148 of file oneloop_andi.h.

Data Fields
float k1[3]
float k2[3]
float k3[3]

◆ Gains2ndOrder

struct Gains2ndOrder

Definition at line 153 of file oneloop_andi.h.

Data Fields
float k2
float k3

◆ LP_t

struct LP_t

Definition at line 184 of file oneloop_andi.h.

Data Fields
float bandwidth
enum FilterType filter_type
float freq
float freq_set
float meas
union LP_t meas_filt
union LP_t.meas_filt meas_filt
float meas_prev
float out
float tau

◆ Oneloop_LP_t

struct Oneloop_LP_t

Definition at line 200 of file oneloop_andi.h.

+ Collaboration diagram for Oneloop_LP_t:
Data Fields
struct LP_t ax
struct LP_t ay
struct LP_t az
struct LP_t p
struct LP_t p_ddot
struct LP_t p_dot
struct LP_t q
struct LP_t q_ddot
struct LP_t q_dot
struct LP_t r
struct LP_t r_ddot
struct LP_t r_dot

◆ Oneloop_DynFilt_t

struct Oneloop_DynFilt_t

Definition at line 211 of file oneloop_andi.h.

Data Fields
float fs
float mu_c
float mu_c_0
float sigma
float u_c
float u_c_0
float varepsilon

◆ LP_t.meas_filt

union LP_t.meas_filt

Definition at line 267 of file oneloop_nB.h.

Data Fields
Butterworth2LowPass bw2
Butterworth2LowPass bw2
Butterworth4LowPass bw4
Butterworth4LowPass bw4
struct FirstOrderLowPass lp1
struct FirstOrderLowPass lp1
struct SecondOrderNotchFilter notch
struct SecondOrderNotchFilter notch

Macro Definition Documentation

◆ ANDI_G_SCALING

#define ANDI_G_SCALING   1000.0f

Definition at line 59 of file oneloop_andi.h.

◆ ANDI_NUM_ACT

#define ANDI_NUM_ACT   COMMANDS_NB_REAL

Definition at line 39 of file oneloop_andi.h.

◆ ANDI_NUM_ACT_TOT

#define ANDI_NUM_ACT_TOT   (ANDI_NUM_ACT + ANDI_NUM_VIRTUAL_ACT)

Definition at line 53 of file oneloop_andi.h.

◆ ANDI_NUM_VIRTUAL_ACT [1/2]

#define ANDI_NUM_VIRTUAL_ACT   COMMANDS_NB_VIRTUAL

Definition at line 43 of file oneloop_andi.h.

◆ ANDI_NUM_VIRTUAL_ACT [2/2]

#define ANDI_NUM_VIRTUAL_ACT   2

Definition at line 43 of file oneloop_andi.h.

◆ ANDI_OUTPUTS

#define ANDI_OUTPUTS   6

Definition at line 57 of file oneloop_andi.h.

◆ CTRL_ANDI

#define CTRL_ANDI   0

Control types.

Definition at line 62 of file oneloop_andi.h.

◆ CTRL_INDI

#define CTRL_INDI   1

Definition at line 63 of file oneloop_andi.h.

Enumeration Type Documentation

◆ FilterType

enum FilterType
Enumerator
LOWPASS_1 
BUTTERWORTH_2 
BUTTERWORTH_4 
NOTCH 

Definition at line 178 of file oneloop_andi.h.

Function Documentation

◆ guidance_set_max_bank_angle()

void guidance_set_max_bank_angle ( float  max_bank)
extern

Guidance limit setters called by rotwing_state (also implemented by guidance_indi_hybrid).

The one loop controller uses its own limits, so these are no-ops here.

Definition at line 388 of file guidance_indi_hybrid.c.

◆ guidance_set_max_climb_speed()

void guidance_set_max_climb_speed ( float  max_climb_speed_quad,
float  max_climb_speed_fwd 
)
extern

Definition at line 392 of file guidance_indi_hybrid.c.

◆ guidance_set_max_descend_speed()

void guidance_set_max_descend_speed ( float  max_descend_speed_quad,
float  max_descend_speed_fwd 
)
extern

Definition at line 397 of file guidance_indi_hybrid.c.

◆ guidance_set_min_max_airspeed()

void guidance_set_min_max_airspeed ( float  min_airspeed,
float  max_airspeed 
)
extern

Definition at line 383 of file guidance_indi_hybrid.c.

◆ oneloop_andi_enter()

void oneloop_andi_enter ( bool  half_loop_sp,
int  ctrl_type 
)
extern

Function that resets important values upon engaging Oneloop ANDI.

FIXME: Ideally we should distinguish between the "stabilization" and "guidance" needs because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying.

Definition at line 1680 of file oneloop_andi.c.

References ANDI_OUTPUTS, bwls_1l, calc_normalization(), OneloopGeneral::ctrl_type, EFF_MAT_G, ele_min, eulers_zxy, foo, G1G2_oneloop(), OneloopGeneral::half_loop, init_controller_gains(), multiple_chirp_run, oneloop_andi, FloatEulers::psi, psi_des_deg, psi_des_rad, and reinit_controller().

Referenced by oneloop_from_nav(), and stabilization_attitude_enter().

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◆ oneloop_andi_init()

void oneloop_andi_init ( void  )
extern

Init function of Oneloop ANDI controller

Definition at line 1621 of file oneloop_andi.c.

References act_dynamics, actuator_state_1l, andi_du, ANDI_NUM_ACT_TOT, ANDI_OUTPUTS, andi_u, andi_u_n, OneloopStabilizationRef::att, OneloopStabilizationRef::att_2d, OneloopStabilizationRef::att_3d, OneloopStabilizationRef::att_d, bwls_1l, calc_normalization(), CTRL_ANDI, OneloopGeneral::ctrl_type, DefaultPeriodic, dynFilter_init(), EFF_MAT_G, eulers_zxy_des, float_vect_zero(), foo, G1G2_oneloop(), OneloopGeneral::half_loop, init_all_LP(), init_controller_gains(), init_filter(), init_poles(), mu_mL, mu_mR, nav_target, nav_target_new, nu, nu_n, oneloop_andi, FloatEulers::phi, positive_non_zero(), FloatEulers::psi, register_periodic_telemetry(), send_eff_mat_guid_oneloop_andi(), send_eff_mat_stab_oneloop_andi(), send_guidance_oneloop_andi(), send_oneloop_andi(), send_oneloop_debug(), send_wls_u_oneloop(), send_wls_v_oneloop(), OneloopGeneral::sta_ref, and FloatEulers::theta.

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◆ oneloop_andi_read_rc()

void oneloop_andi_read_rc ( bool  in_flight,
bool  in_carefree,
bool  coordinated_turn 
)
extern

◆ oneloop_andi_RM()

void oneloop_andi_RM ( bool  half_loop,
struct FloatVect3  PSA_des,
int  rm_order_h,
int  rm_order_v,
bool  in_flight_oneloop 
)
extern

Function to generate the reference signals for the oneloop controller.

Parameters
half_loopIn half-loop mode the controller is used for stabilization only
PSA_desDesired position/speed/acceleration
rm_order_hOrder of the reference model for horizontal guidance
rm_order_vOrder of the reference model for vertical guidance

Definition at line 1724 of file oneloop_andi.c.

References A_chirp, a_thrust, OneloopGuidanceRef::acc, OneloopGuidanceState::acc, act_dyn_ctrl, ANDI_NUM_ACT, OneloopStabilizationRef::att, OneloopStabilizationRef::att_2d, OneloopStabilizationState::att_2d, OneloopStabilizationRef::att_3d, OneloopStabilizationRef::att_d, OneloopStabilizationState::att_d, chirp_axis, chirp_call(), chirp_first_call, chirp_n_counter, chirp_n_repeat, chirp_on, CTRL_ANDI, OneloopGeneral::ctrl_type, delay_counter, drop_yaw, dt_1l, EFF_MAT_RW, eulers_zxy, eulers_zxy_des, f0_chirp, f1_chirp, firing_counter, float_vect_copy(), float_vect_zero(), foo, OneloopGeneral::gui_ref, OneloopGeneral::gui_state, heading_manual, OneloopGuidanceRef::jer, Gains3rdOrder::k1, Gains3rdOrder::k2, Gains3rdOrder::k3, k_att_rm, k_pos_rm, max_a_nav, max_j_lin, MAX_PPRZ, max_r, max_v_nav, max_v_nav_v, multiple_chirp_run, nav_target, nav_target_new, oneloop_andi, ONELOOP_ANDI_MAX_PHI, ONELOOP_ANDI_MAX_THETA, oneloop_andi_model, oneloop_andi_sideslip(), p_ref_0, FloatEulers::phi, phi_vec, OneloopGuidanceRef::pos, OneloopGuidanceState::pos, FloatEulers::psi, psi_des_deg, psi_des_rad, psi_vec, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, reshape_wind(), rm_1st_pos(), rm_2nd_pos(), rm_3rd_attitude(), rm_3rd_pos(), RW_aD, sta_bounds, OneloopGeneral::sta_ref, OneloopGeneral::sta_state, t_0_chirp, t_chirp, FloatEulers::theta, time_elapsed_chirp, OneloopGuidanceRef::vel, OneloopGuidanceState::vel, WLS_one_p, WLS_t::Wv, Wv_backup, and yaw_stick_in_auto.

Referenced by oneloop_andi_run().

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◆ oneloop_andi_run()

void oneloop_andi_run ( bool  in_flight,
bool  half_loop,
struct FloatVect3  PSA_des,
int  rm_order_h,
int  rm_order_v 
)
extern

Main function that runs the controller and performs control allocation.

Parameters
half_loopIn half-loop mode the controller is used for stabilization only
in_flightThe drone is in flight
PSA_desDesired position/speed/acceleration
rm_order_hOrder of the reference model for horizontal guidance
rm_order_vOrder of the reference model for vertical guidance

Definition at line 1963 of file oneloop_andi.c.

References a_thrust, OneloopGuidanceRef::acc, OneloopGuidanceState::acc, act_dyn_ctrl, act_dynamics, act_max, act_min, ANDI_NUM_ACT, ANDI_NUM_ACT_TOT, ANDI_OUTPUTS, andi_u, andi_u_n, OneloopStabilizationRef::att, OneloopStabilizationState::att, OneloopStabilizationRef::att_2d, OneloopStabilizationState::att_2d, OneloopStabilizationRef::att_3d, OneloopStabilizationRef::att_d, OneloopStabilizationState::att_d, autopilot, Oneloop_LP_t::ax, Oneloop_LP_t::ay, Oneloop_LP_t::az, bwls_1l, calc_normalization(), chirp_on, Stabilization::cmd, COMMAND_PITCH, COMMAND_ROLL, commands, CTRL_ANDI, CTRL_INDI, ctrl_off, OneloopGeneral::ctrl_type, RW_skew::deg, drop_aD, drop_aE, drop_aN, drop_pitch, drop_roll, drop_yaw, dynFilter_run(), ec_3rd_att(), ec_3rd_pos(), EFF_MAT_G, RW_Model::ele_pref, eul_of_acc(), eulers_zxy, eulers_zxy_des, rotwing_state_t::fail_pusher_motor, foo, G1G2_oneloop(), g2_ff, G2_RW, get_act_state_oneloop(), OneloopGeneral::gui_ref, OneloopGeneral::gui_state, heading_manual, rotwing_state_t::hover_motors_enabled, init_controller_gains(), OneloopGuidanceRef::jer, Gains3rdOrder::k1, Gains3rdOrder::k2, Gains3rdOrder::k3, k_att_e, k_att_e_indi, k_D, k_I, k_P, k_pos_e, k_pos_e_indi, LP, max_a_nav, MAX_PPRZ, max_v_nav, Oneloop_DynFilt_t::mu_c, mu_mL, mu_mR, nav, RotorcraftNavigation::nav_altitude, normalize_nu(), nu, num_thrusters_oneloop, SecondOrderLowPass::o, oneloop_andi, oneloop_andi_bound_disturbance(), ONELOOP_ANDI_DEBUG_MODE, ONELOOP_ANDI_MAX_PHI, ONELOOP_ANDI_MAX_THETA, oneloop_andi_model, oneloop_andi_model_filt, oneloop_andi_propagate_filters(), oneloop_andi_RM(), oneloop_andi_sigma, oneloop_calc_model_disturbance(), LP_t::out, Oneloop_LP_t::p, Oneloop_LP_t::p_dot, FloatEulers::phi, pitch_pref, OneloopGuidanceRef::pos, OneloopGuidanceState::pos, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, Pos_PID(), FloatEulers::psi, psi_des_deg, psi_des_rad, Oneloop_LP_t::q, Oneloop_LP_t::q_dot, Oneloop_LP_t::r, Oneloop_LP_t::r_dot, RADIO_AUX4, RADIO_AUX5, radio_control, radio_control_get(), RADIO_THROTTLE, ratio_u_un, reinit_controller(), rotwing_state, RW, RW_aD, RW_aE, RW_aN, RW_ap, RW_aq, RW_ar, shape_vector(), RW_Model::skew, sta_bounds, OneloopGeneral::sta_ref, OneloopGeneral::sta_state, stabilization, stateGetNedToBodyEulersZxy_f(), stateGetPositionNed_f(), stateGetSpeedNed_f(), sys_id_doublet_running(), RotorcraftNavigation::target, FloatEulers::theta, theta_pref_max, pprz_autopilot::throttle, WLS_t::u, u_filt, WLS_t::u_max, WLS_t::u_min, u_pref, WLS_t::u_pref, use_dyn_filter, RadioControl::values, OneloopGuidanceRef::vel, OneloopGuidanceState::vel, wls_alloc(), WLS_one_p, WLS_t::Wu, Wu_backup, Wu_quad_motors_fwd, NedCoor_f::x, EnuCoor_f::x, NedCoor_f::y, EnuCoor_f::y, and NedCoor_f::z.

Referenced by guidance_oneloop_run_mode(), oneloop_from_nav(), and stabilization_attitude_run().

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◆ oneloop_andi_set_failsafe_setpoint()

void oneloop_andi_set_failsafe_setpoint ( void  )
extern

◆ oneloop_from_nav()

void oneloop_from_nav ( bool  in_flight)
extern

Function that maps navigation inputs to the oneloop controller for the generated autopilot.

Definition at line 2568 of file oneloop_andi.c.

Variable Documentation

◆ A_chirp

float A_chirp
extern

Definition at line 524 of file oneloop_andi.c.

Referenced by oneloop_andi_RM().

◆ act_state_filt_vect_1l

float act_state_filt_vect_1l[ANDI_NUM_ACT]
extern

◆ actuator_state_1l

float actuator_state_1l[ANDI_NUM_ACT_TOT]
extern

Definition at line 290 of file oneloop_andi.c.

◆ andi_du

float andi_du[ANDI_NUM_ACT_TOT]
extern

Definition at line 285 of file oneloop_andi.c.

◆ andi_u

float andi_u[ANDI_NUM_ACT_TOT]
extern

Definition at line 284 of file oneloop_andi.c.

◆ chirp_axis

int8_t chirp_axis
extern

Definition at line 525 of file oneloop_andi.c.

◆ chirp_on

bool chirp_on
extern

Definition at line 517 of file oneloop_andi.c.

Referenced by chirp_call(), oneloop_andi_RM(), and oneloop_andi_run().

◆ ctrl_off

bool ctrl_off
extern

Definition at line 460 of file oneloop_andi.c.

◆ drop_yaw

bool drop_yaw
extern

Definition at line 475 of file oneloop_andi.c.

◆ eulers_zxy_des

struct FloatEulers eulers_zxy_des
extern

Definition at line 362 of file oneloop_andi.c.

◆ f0_chirp

float f0_chirp
extern

Definition at line 521 of file oneloop_andi.c.

Referenced by oneloop_andi_RM().

◆ f1_chirp

float f1_chirp
extern

Definition at line 522 of file oneloop_andi.c.

Referenced by oneloop_andi_RM().

◆ fwd_sideslip_gain

float fwd_sideslip_gain
extern

Definition at line 376 of file oneloop_andi.c.

◆ g1g2_1l

float g1g2_1l[ANDI_OUTPUTS][ANDI_NUM_ACT_TOT]
extern

◆ gi_unbounded_airspeed_sp

float gi_unbounded_airspeed_sp
extern

Definition at line 248 of file guidance_indi_hybrid.c.

◆ gih_params

struct guidance_indi_hybrid_params gih_params
extern

Definition at line 112 of file guidance_indi_hybrid.c.

◆ heading_manual

bool heading_manual
extern

Definition at line 309 of file oneloop_andi.c.

◆ k1_NE_tune

float k1_NE_tune
extern

Definition at line 505 of file oneloop_andi.c.

◆ k2_NE_tune

float k2_NE_tune
extern

Definition at line 506 of file oneloop_andi.c.

◆ k_att_e

struct Gains3rdOrder k_att_e
extern

Definition at line 498 of file oneloop_andi.c.

◆ k_att_rm

struct Gains3rdOrder k_att_rm
extern

Definition at line 499 of file oneloop_andi.c.

◆ k_D

float k_D
extern

Definition at line 509 of file oneloop_andi.c.

◆ k_head_e

struct Gains2ndOrder k_head_e
extern

◆ k_head_rm

struct Gains2ndOrder k_head_rm
extern

◆ k_P

float k_P
extern

Definition at line 508 of file oneloop_andi.c.

◆ k_pos_e

struct Gains3rdOrder k_pos_e
extern

Definition at line 500 of file oneloop_andi.c.

◆ k_pos_rm

struct Gains3rdOrder k_pos_rm
extern

Definition at line 501 of file oneloop_andi.c.

◆ LP

struct Oneloop_LP_t LP
extern

Definition at line 189 of file oneloop_andi.c.

◆ max_as

float max_as
extern

Definition at line 407 of file oneloop_andi.c.

◆ multiple_chirp_run

bool multiple_chirp_run
extern

Definition at line 531 of file oneloop_andi.c.

Referenced by oneloop_andi_enter(), and oneloop_andi_RM().

◆ nu

float nu[6]
extern

Definition at line 287 of file oneloop_andi.c.

◆ oneloop_andi

struct OneloopGeneral oneloop_andi
extern

Definition at line 132 of file oneloop_andi.c.

Referenced by chirp_pos(), get_act_state_oneloop(), guidance_oneloop_run_mode(), oneloop_andi_bound_disturbance(), oneloop_andi_enter(), oneloop_andi_init(), oneloop_andi_RM(), oneloop_andi_run(), oneloop_calc_model_disturbance(), oneloop_from_nav(), reinit_controller(), reshape_wind(), send_guidance_oneloop_andi(), send_oneloop_andi(), and stabilization_attitude_run().

◆ oneloop_andi_sigma

float oneloop_andi_sigma
extern

Definition at line 194 of file oneloop_andi.c.

Referenced by chirp_pos(), and oneloop_andi_run().

◆ p_alt_e

struct PolePlacement p_alt_e
extern

Definition at line 492 of file oneloop_andi.c.

◆ p_alt_rm

struct PolePlacement p_alt_rm
extern

Definition at line 493 of file oneloop_andi.c.

◆ p_att_e

struct PolePlacement p_att_e
extern

Definition at line 485 of file oneloop_andi.c.

◆ p_att_rm

struct PolePlacement p_att_rm
extern

Definition at line 487 of file oneloop_andi.c.

◆ p_head_e

struct PolePlacement p_head_e
extern

Definition at line 495 of file oneloop_andi.c.

◆ p_head_rm

struct PolePlacement p_head_rm
extern

Definition at line 496 of file oneloop_andi.c.

◆ p_pos_e

struct PolePlacement p_pos_e
extern

Definition at line 489 of file oneloop_andi.c.

◆ p_pos_rm

struct PolePlacement p_pos_rm
extern

Definition at line 490 of file oneloop_andi.c.

◆ psi_des_deg

float psi_des_deg
extern

Definition at line 365 of file oneloop_andi.c.

◆ psi_des_rad

float psi_des_rad
extern

Definition at line 364 of file oneloop_andi.c.

◆ t_chirp

float t_chirp
extern

Definition at line 523 of file oneloop_andi.c.

Referenced by chirp_call(), chirp_pos(), and oneloop_andi_RM().

◆ use_dyn_filter

bool use_dyn_filter
extern

Definition at line 193 of file oneloop_andi.c.

Referenced by oneloop_andi_run().

◆ yaw_stick_in_auto

bool yaw_stick_in_auto
extern

Definition at line 315 of file oneloop_andi.c.