Vertical guidance for rotorcrafts. More...

#include "std.h"
#include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
#include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"
#include "firmwares/rotorcraft/stabilization.h"

Include dependency graph for guidance_v.h:

This graph shows which files directly or indirectly include this file:

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Data Structures
struct	VerticalGuidance

Macros
#define	GUIDANCE_V_MODE_KILL 0

#define	GUIDANCE_V_MODE_RC_DIRECT 1

#define	GUIDANCE_V_MODE_RC_CLIMB 2

#define	GUIDANCE_V_MODE_CLIMB 3

#define	GUIDANCE_V_MODE_HOVER 4

#define	GUIDANCE_V_MODE_NAV 5

#define	GUIDANCE_V_MODE_GUIDED 6

#define	GuidanceVSetRef guidance_v_set_ref

Functions
void	guidance_v_init (void)

void	guidance_v_mode_changed (uint8_t new_mode)

void	guidance_v_notify_in_flight (bool in_flight)

void	guidance_v_thrust_adapt (bool in_flight)

void	guidance_v_update_ref (void)

void	guidance_v_z_enter (void)

void	guidance_v_run_enter (void)

struct ThrustSetpoint	guidance_v_run (bool in_flight)
	Guidance vertical run functions. More...

struct ThrustSetpoint	guidance_v_run_pos (bool in_flight, struct VerticalGuidance *gv)

struct ThrustSetpoint	guidance_v_run_speed (bool in_flight, struct VerticalGuidance *gv)

struct ThrustSetpoint	guidance_v_run_accel (bool in_flight, struct VerticalGuidance *gv)

void	guidance_v_set_ref (int32_t pos, int32_t speed, int32_t accel)
	Set guidance ref parameters. More...

struct ThrustSetpoint	guidance_v_from_nav (bool in_flight)
	Set guidance setpoint from NAV and run hover loop. More...

void	guidance_v_guided_enter (void)
	Enter GUIDED mode control. More...

struct ThrustSetpoint	guidance_v_guided_run (bool in_flight)
	Run GUIDED mode control. More...

void	guidance_v_set_z (float z)
	Set z position setpoint. More...

void	guidance_v_set_vz (float vz)
	Set z velocity setpoint. More...

void	guidance_v_set_th (float th)
	Set throttle setpoint. More...

Variables
struct VerticalGuidance	guidance_v

Detailed Description

Vertical guidance for rotorcrafts.

Definition in file guidance_v.h.

Data Structure Documentation

◆ VerticalGuidance

struct VerticalGuidance

Definition at line 43 of file guidance_v.h.

Collaboration diagram for VerticalGuidance:

Data Fields
uint8_t	mode
float	nominal_throttle	nominal throttle for hover. This is only used if GUIDANCE_V_NOMINAL_HOVER_THROTTLE is defined! Unit: factor of MAX_PPRZ with range 0.1 : 0.9
int32_t	rc_delta_t	Direct throttle from radio control. range 0:MAX_PPRZ
int32_t	rc_zd_sp	Vertical speed setpoint from radio control. fixed point representation: Q12.19 accuracy 0.0000019, range +/-4096
int32_t	th_sp	input thrust setpoint. valid range 0 : MAX_PPRZ
struct ThrustSetpoint	thrust	Final thrust setpoint summation of feed-forward and feed-back commands, can be a total thrust or increment, float or int.
int32_t	thrust_coeff
int32_t	z_ref	altitude reference in meters. fixed point representation: Q23.8 accuracy 0.0039, range 8388km
int32_t	z_sp	altitude setpoint in meters (input). fixed point representation: Q23.8 accuracy 0.0039, range 8388km
int32_t	zd_ref	vertical speed reference in meter/s. fixed point representation: Q12.19 accuracy 0.0000038, range 4096
int32_t	zd_sp	vertical speed setpoint in meter/s (input). fixed point representation: Q12.19 accuracy 0.0000019, range +/-4096
int32_t	zdd_ref	vertical acceleration reference in meter/s^2. fixed point representation: Q21.10 accuracy 0.0009766, range 2097152