34 #define GUIDANCE_V_MODE_KILL 0
35 #define GUIDANCE_V_MODE_RC_DIRECT 1
36 #define GUIDANCE_V_MODE_RC_CLIMB 2
37 #define GUIDANCE_V_MODE_CLIMB 3
38 #define GUIDANCE_V_MODE_HOVER 4
39 #define GUIDANCE_V_MODE_NAV 5
40 #define GUIDANCE_V_MODE_MODULE 6
41 #define GUIDANCE_V_MODE_FLIP 7
42 #define GUIDANCE_V_MODE_GUIDED 8
128 #define GuidanceVSetRef guidance_v_set_ref
Adaptation block of the vertical guidance.
Reference generation for vertical guidance.
void guidance_v_read_rc(void)
void guidance_v_thrust_adapt(bool in_flight)
void guidance_v_set_vz(float vz)
Set z velocity setpoint.
void guidance_v_z_enter(void)
void guidance_v_notify_in_flight(bool in_flight)
float nominal_throttle
nominal throttle for hover.
int32_t z_sp
altitude setpoint in meters (input).
int32_t zd_sp
vertical speed setpoint in meter/s (input).
void guidance_v_run(bool in_flight)
void guidance_v_run_enter(void)
int32_t z_ref
altitude reference in meters.
void guidance_v_set_z(float z)
Set z position setpoint.
void guidance_v_guided_enter(void)
Enter GUIDED mode control.
int32_t zd_ref
vertical speed reference in meter/s.
int32_t 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.
int32_t th_sp
thrust setpoint.
int32_t guidance_v_run_pos(bool in_flight, struct VerticalGuidance *gv)
int32_t guidance_v_run_speed(bool in_flight, struct VerticalGuidance *gv)
void guidance_v_set_th(float th)
Set throttle setpoint.
int32_t rc_zd_sp
Vertical speed setpoint from radio control.
void guidance_v_mode_changed(uint8_t new_mode)
int32_t delta_t
thrust command.
void guidance_v_guided_run(bool in_flight)
Run GUIDED mode control.
struct VerticalGuidance guidance_v
void guidance_v_from_nav(bool in_flight)
Set guidance setpoint from NAV and run hover loop.
void guidance_v_update_ref(void)
void guidance_v_init(void)
int32_t zdd_ref
vertical acceleration reference in meter/s^2.
int32_t rc_delta_t
Direct throttle from radio control.
int int32_t
Typedef defining 32 bit int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.