guidance_h.c File Reference

Horizontal guidance for rotorcrafts. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/guidance/guidance_flip.h"
#include "firmwares/rotorcraft/guidance/guidance_module.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/navigation.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/stabilization/stabilization_none.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Functions
static void	guidance_h_update_reference (void)
static void	transition_run (bool to_forward)
static void	read_rc_setpoint_speed_i (struct Int32Vect2 *speed_sp, bool in_flight)
	read speed setpoint from RC More...
static void	send_gh (struct transport_tx *trans, struct link_device *dev)
static void	send_href (struct transport_tx *trans, struct link_device *dev)
static void	send_tune_hover (struct transport_tx *trans UNUSED, struct link_device *dev UNUSED)
void	guidance_h_init (void)
static void	reset_guidance_reference_from_current_position (void)
void	guidance_h_mode_changed (uint8_t new_mode)
void	guidance_h_read_rc (bool in_flight)
void	guidance_h_run (bool in_flight)
void	guidance_h_hover_enter (void)
void	guidance_h_nav_enter (void)
void	guidance_h_from_nav (bool in_flight)
	Set horizontal guidance from NAV and run control loop. More...
void	guidance_h_guided_run (bool in_flight)
	Run GUIDED mode control. More...
void	guidance_h_set_pos (float x, float y)
	Set horizontal position setpoint. More...
void	guidance_h_set_heading (float heading)
	Set heading setpoint. More...
void	guidance_h_set_body_vel (float vx, float vy)
	Set body relative horizontal velocity setpoint. More...
void	guidance_h_set_vel (float vx, float vy)
	Set horizontal acceleration setpoint. More...
void	guidance_h_set_body_acc (float ax, float ay)
	Set body relative horizontal acceleration setpoint. More...
void	guidance_h_set_acc (float ax, float ay)
	Set horizontal velocity setpoint. More...
void	guidance_h_set_heading_rate (float rate)
	Set heading rate setpoint. More...

Variables
struct HorizontalGuidance	guidance_h
int32_t	transition_percentage
struct StabilizationSetpoint	guidance_h_cmd
	horizontal guidance command. More...

Detailed Description

Horizontal guidance for rotorcrafts.

Definition in file guidance_h.c.

Function Documentation

guidance_h_from_nav()

void guidance_h_from_nav

(

bool

in_flight

)

Set horizontal guidance from NAV and run control loop.

Definition at line 448 of file guidance_h.c.

References RotorcraftNavigation::accel, ANGLE_BFP_OF_REAL, RotorcraftNavigation::carrot, guidance_h, guidance_h_cmd, guidance_h_guided_run(), guidance_h_nav_enter(), guidance_h_run_accel(), guidance_h_run_pos(), guidance_h_run_speed(), guidance_h_set_acc(), guidance_h_set_heading(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_h_update_reference(), RotorcraftNavigation::heading, 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, Int32Eulers::phi, RotorcraftNavigation::pitch, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, Int32Eulers::psi, RotorcraftNavigation::quat, QUAT_BFP_OF_REAL, RotorcraftNavigation::roll, RotorcraftNavigation::setpoint_mode, HorizontalGuidance::sp, RotorcraftNavigation::speed, stabilization_attitude_run(), stabilization_attitude_set_quat_setpoint_i(), stabilization_attitude_set_rpy_setpoint_i(), stabilization_attitude_set_stab_sp(), Int32Eulers::theta, Int32Vect2::x, EnuCoor_f::x, Int32Vect2::y, and EnuCoor_f::y.

Referenced by guidance_h_run().

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guidance_h_guided_run()

void guidance_h_guided_run

(

bool

in_flight

)

Run GUIDED mode control.

Definition at line 563 of file guidance_h.c.

References guidance_h, guidance_h_cmd, guidance_h_hover_enter(), guidance_h_run_pos(), guidance_h_update_reference(), stabilization_attitude_run(), and stabilization_attitude_set_stab_sp().

Referenced by guidance_h_from_nav(), and guidance_h_run().

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guidance_h_hover_enter()

void guidance_h_hover_enter

(

void

)

Definition at line 416 of file guidance_h.c.

References guidance_h, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), FloatEulers::psi, HorizontalGuidance::rc_sp, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by guidance_h_guided_run(), and guidance_h_mode_changed().

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guidance_h_init()

void guidance_h_init

(

void

)

Definition at line 107 of file guidance_h.c.

References DefaultPeriodic, FLOAT_EULERS_ZERO, gh_ref_init(), guidance_h, GUIDANCE_H_MODE_KILL, guidance_h_module_init(), GUIDANCE_H_USE_REF, HorizontalGuidanceSetpoint::h_mask, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::heading_rate, INT_VECT2_ZERO, HorizontalGuidance::mode, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::rc_sp, register_periodic_telemetry(), send_gh(), send_href(), send_tune_hover(), HorizontalGuidance::sp, transition_percentage, transition_theta_offset, HorizontalGuidance::use_ref, and HorizontalGuidanceSetpoint::yaw_mask.

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guidance_h_mode_changed()

void guidance_h_mode_changed

(

uint8_t

new_mode

)

Definition at line 151 of file guidance_h.c.

References guidance_flip_enter(), guidance_h, guidance_h_hover_enter(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_KILL, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_enter(), guidance_h_nav_enter(), HorizontalGuidance::mode, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_none_enter(), and stabilization_rate_enter().

Referenced by autopilot_static_set_mode().

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guidance_h_nav_enter()

void guidance_h_nav_enter

(

void

)

Definition at line 437 of file guidance_h.c.

References RotorcraftNavigation::carrot, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), RotorcraftNavigation::heading, nav, reset_guidance_reference_from_current_position(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by guidance_h_from_nav(), and guidance_h_mode_changed().

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guidance_h_read_rc()

void guidance_h_read_rc

(

bool

in_flight

)

Definition at line 224 of file guidance_h.c.

References FALSE, FLOAT_EULERS_ZERO, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_read_rc(), HorizontalGuidanceSetpoint::h_mask, HorizontalGuidance::mode, radio_control, RC_OK, HorizontalGuidance::rc_sp, read_rc_setpoint_speed_i(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), RadioControl::status, and TRUE.

Referenced by autopilot_static_on_rc_frame(), and ins_ekf2_publish_attitude().

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guidance_h_run()

void guidance_h_run

(

bool

in_flight

)

Definition at line 283 of file guidance_h.c.

References guidance_flip_run(), guidance_h, guidance_h_from_nav(), guidance_h_guided_run(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_run(), HorizontalGuidanceSetpoint::heading, INT32_PERCENTAGE_FRAC, HorizontalGuidance::mode, FloatEulers::psi, HorizontalGuidance::rc_sp, HorizontalGuidance::sp, stabilization_attitude_run(), stabilization_filter_commands(), stabilization_none_run(), stabilization_rate_run(), transition_percentage, and transition_run().

Referenced by autopilot_static_periodic().

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guidance_h_set_acc()

void guidance_h_set_acc	(	float	ax,
		float	ay
	)

Set horizontal velocity setpoint.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.

Definition at line 621 of file guidance_h.c.

References HorizontalGuidanceSetpoint::accel, ACCEL_BFP_OF_REAL, guidance_h, HorizontalGuidanceSetpoint::h_mask, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_h_from_nav(), and guidance_h_set_body_acc().

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guidance_h_set_body_acc()

void guidance_h_set_body_acc	(	float	ax,
		float	ay
	)

Set body relative horizontal acceleration setpoint.

Parameters

vx	forward acceleration (body frame) in meters/sec².
vy	right acceleration (body frame) in meters/sec².

Definition at line 613 of file guidance_h.c.

References guidance_h_set_acc(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

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guidance_h_set_body_vel()

void guidance_h_set_body_vel	(	float	vx,
		float	vy
	)

Set body relative horizontal velocity setpoint.

Parameters

vx	forward velocity (body frame) in meters/sec.
vy	right velocity (body frame) in meters/sec.

Definition at line 595 of file guidance_h.c.

References guidance_h_set_vel(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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guidance_h_set_heading()

void guidance_h_set_heading

(

float

heading

)

Set heading setpoint.

Parameters

heading

Setpoint in radians.

Definition at line 588 of file guidance_h.c.

References FLOAT_ANGLE_NORMALIZE, guidance_h, HorizontalGuidanceSetpoint::heading, heading, HorizontalGuidance::sp, and HorizontalGuidanceSetpoint::yaw_mask.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), guidance_h_nav_enter(), and orange_avoider_guided_periodic().

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guidance_h_set_heading_rate()

void guidance_h_set_heading_rate

(

float

rate

)

Set heading rate setpoint.

Parameters

rate	Heading rate in radians.

Definition at line 631 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::heading_rate, HorizontalGuidance::sp, and HorizontalGuidanceSetpoint::yaw_mask.

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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guidance_h_set_pos()

void guidance_h_set_pos	(	float	x,
		float	y
	)

Set horizontal position setpoint.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.

Definition at line 578 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::h_mask, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), and guidance_h_nav_enter().

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guidance_h_set_vel()

void guidance_h_set_vel	(	float	vx,
		float	vy
	)

Set horizontal acceleration setpoint.

Parameters

vx	North acceleration (local NED frame) in meters/sec².
vy	East acceleration (local NED frame) in meters/sec².

Definition at line 603 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::h_mask, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, SPEED_BFP_OF_REAL, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), and guidance_h_set_body_vel().

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guidance_h_update_reference()

static void guidance_h_update_reference ( void  )

static

Definition at line 346 of file guidance_h.c.

References HorizontalGuidanceReference::accel, HorizontalGuidanceSetpoint::accel, GuidanceHRef::accel, ACCEL_BFP_OF_REAL, ACCEL_FLOAT_OF_BFP, FLOAT_ANGLE_NORMALIZE, GH_POS_REF_FRAC, gh_ref, gh_update_ref_from_accel_sp(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), guidance_h, GUIDANCE_H_MODE_HOVER, HorizontalGuidanceSetpoint::h_mask, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::heading_rate, INT32_POS_FRAC, INT32_VECT2_RSHIFT, INT_VECT2_ZERO, HorizontalGuidance::mode, nav, NAV_SETPOINT_MODE_ACCEL, NAV_SETPOINT_MODE_POS, NAV_SETPOINT_MODE_SPEED, HorizontalGuidanceReference::pos, HorizontalGuidanceSetpoint::pos, GuidanceHRef::pos, HorizontalGuidance::ref, RotorcraftNavigation::setpoint_mode, HorizontalGuidance::sp, HorizontalGuidanceReference::speed, HorizontalGuidanceSetpoint::speed, GuidanceHRef::speed, SPEED_BFP_OF_REAL, SPEED_FLOAT_OF_BFP, stateGetPositionNed_i(), stateGetSpeedNed_i(), HorizontalGuidance::use_ref, VECT2_COPY, FloatVect2::x, Int32Vect2::x, NedCoor_i::x, FloatVect2::y, Int32Vect2::y, NedCoor_i::y, and HorizontalGuidanceSetpoint::yaw_mask.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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read_rc_setpoint_speed_i()

static void read_rc_setpoint_speed_i ( struct Int32Vect2 *  speed_sp, bool  in_flight  )

static

read speed setpoint from RC

Todo:

calc proper scale while making sure a division by zero can't occur

Definition at line 533 of file guidance_h.c.

References GUIDANCE_H_REF_MAX_SPEED, INT32_TRIG_FRAC, MAX_PPRZ, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, radio_control, RADIO_PITCH, RADIO_ROLL, SPEED_BFP_OF_REAL, speed_sp, stateGetNedToBodyEulers_i(), RadioControl::values, FloatVect3::x, and FloatVect3::y.

Referenced by guidance_h_read_rc().

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reset_guidance_reference_from_current_position()

static void reset_guidance_reference_from_current_position ( void  )

inlinestatic

Definition at line 137 of file guidance_h.c.

References HorizontalGuidanceReference::accel, FLOAT_VECT2_ZERO, gh_set_ref(), guidance_h, INT_VECT2_ZERO, HorizontalGuidanceReference::pos, HorizontalGuidance::ref, HorizontalGuidanceReference::speed, SPEED_FLOAT_OF_BFP, stateGetPositionNed_i(), stateGetSpeedNed_i(), VECT2_COPY, FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by guidance_h_hover_enter(), guidance_h_nav_enter(), guidance_h_set_acc(), guidance_h_set_pos(), and guidance_h_set_vel().

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send_gh()

static void send_gh ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 66 of file guidance_h.c.

References dev, guidance_h, HorizontalGuidanceReference::pos, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::ref, HorizontalGuidance::sp, stateGetPositionNed_i(), Int32Vect2::x, NedCoor_i::x, Int32Vect2::y, and NedCoor_i::y.

Referenced by guidance_h_init().

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send_href()

static void send_href ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 75 of file guidance_h.c.

References HorizontalGuidanceReference::accel, dev, guidance_h, HorizontalGuidanceReference::pos, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::ref, HorizontalGuidance::sp, HorizontalGuidanceReference::speed, HorizontalGuidanceSetpoint::speed, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_h_init().

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send_tune_hover()

static void send_tune_hover ( struct transport_tx *trans  UNUSED, struct link_device *dev  UNUSED  )

static

Definition at line 102 of file guidance_h.c.

Referenced by guidance_h_init().

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transition_run()

static void transition_run ( bool  to_forward )

inlinestatic

Definition at line 515 of file guidance_h.c.

References ANGLE_BFP_OF_REAL, INT32_ANGLE_FRAC, INT32_PERCENTAGE_FRAC, INT_MULT_RSHIFT, transition_percentage, and transition_theta_offset.

Referenced by guidance_h_run().

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Variable Documentation

guidance_h

struct HorizontalGuidance guidance_h

Definition at line 1 of file guidance_h.c.

Referenced by guidance_h_from_nav(), guidance_h_guided_run(), guidance_h_hover_enter(), guidance_h_init(), guidance_h_mode_changed(), guidance_h_read_rc(), guidance_h_run(), guidance_h_set_acc(), guidance_h_set_heading(), guidance_h_set_heading_rate(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_h_update_reference(), ins_ekf2_publish_attitude(), orange_avoider_guided_periodic(), periodic_rotwing_state(), reset_guidance_reference_from_current_position(), send_fp(), send_gh(), send_hover_loop(), send_href(), send_status(), and stabilization_indi_set_wls_settings().

guidance_h_cmd

struct StabilizationSetpoint guidance_h_cmd

horizontal guidance command.

In north/east with INT32_ANGLE_FRAC

Definition at line 52 of file guidance_h.c.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

transition_percentage

int32_t transition_percentage

Definition at line 52 of file guidance_h.c.

Referenced by eff_scheduling_generic_periodic(), eff_scheduling_periodic_a(), guidance_h_init(), guidance_h_run(), and transition_run().