HorizontalGuidanceSetpoint Struct Reference

#include <guidance_h.h>

Collaboration diagram for HorizontalGuidanceSetpoint:

Public Types
enum	{ GUIDANCE_H_SP_POS = 0 , GUIDANCE_H_SP_SPEED = 1 , GUIDANCE_H_SP_ACCEL = 2 , GUIDANCE_H_SP_ALL = 3 }
enum	{ GUIDANCE_H_SP_YAW = 0 , GUIDANCE_H_SP_YAW_RATE = 1 }

Data Fields
struct Int32Vect2	pos
	horizontal position setpoint in NED.
struct Int32Vect2	speed
	only used in HOVER mode if GUIDANCE_H_USE_SPEED_REF or in GUIDED mode
struct Int32Vect2	accel
	For direct control of acceleration, if the guidance scheme is able to provide it.
float	heading
float	heading_rate
enum HorizontalGuidanceSetpoint:: { ... }	h_mask
enum HorizontalGuidanceSetpoint:: { ... }	yaw_mask

Detailed Description

Definition at line 68 of file guidance_h.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
GUIDANCE_H_SP_POS
GUIDANCE_H_SP_SPEED
GUIDANCE_H_SP_ACCEL
GUIDANCE_H_SP_ALL

Definition at line 80 of file guidance_h.h.

anonymous enum

anonymous enum

Enumerator
GUIDANCE_H_SP_YAW
GUIDANCE_H_SP_YAW_RATE

Definition at line 86 of file guidance_h.h.

Field Documentation

accel

struct Int32Vect2 HorizontalGuidanceSetpoint::accel

For direct control of acceleration, if the guidance scheme is able to provide it.

Definition at line 75 of file guidance_h.h.

Referenced by simple_quad_sim.BulletFDM::get_observation(), guidance_h_set_acc(), guidance_h_set_all(), and guidance_h_update_reference().

[]

enum { ... } HorizontalGuidanceSetpoint::h_mask

Referenced by guidance_h_guided_run(), guidance_h_init(), guidance_h_set_acc(), guidance_h_set_all(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_h_update_reference(), and rc_cb().

heading

float HorizontalGuidanceSetpoint::heading

Definition at line 77 of file guidance_h.h.

Referenced by guidance_h_init(), guidance_h_run(), guidance_h_set_heading(), guidance_h_update_reference(), guidance_pid_h_run(), ins_ekf2_publish_attitude(), send_fp(), and send_hover_loop().

heading_rate

float HorizontalGuidanceSetpoint::heading_rate

Definition at line 78 of file guidance_h.h.

Referenced by guidance_h_init(), guidance_h_set_heading_rate(), and guidance_h_update_reference().

pos

struct Int32Vect2 HorizontalGuidanceSetpoint::pos

horizontal position setpoint in NED.

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 73 of file guidance_h.h.

Referenced by guidance_h_from_nav(), guidance_h_init(), guidance_h_set_all(), guidance_h_set_pos(), guidance_h_update_reference(), guidance_plane_attitude_from_nav(), send_fp(), send_gh(), send_hover_loop(), and send_href().

speed

struct Int32Vect2 HorizontalGuidanceSetpoint::speed

only used in HOVER mode if GUIDANCE_H_USE_SPEED_REF or in GUIDED mode

Definition at line 74 of file guidance_h.h.

Referenced by guidance_h_hover_enter(), guidance_h_set_all(), guidance_h_set_vel(), guidance_h_update_reference(), rc_cb(), and send_href().

[]

enum { ... } HorizontalGuidanceSetpoint::yaw_mask

Referenced by guidance_h_init(), guidance_h_set_heading(), guidance_h_set_heading_rate(), and guidance_h_update_reference().

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The documentation for this struct was generated from the following file:

• sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h