vertical_ctrl_module_demo.c File Reference

example vertical controller More...

#include "modules/ctrl/vertical_ctrl_module_demo.h"
#include "generated/airframe.h"
#include "autopilot.h"
#include "paparazzi.h"
#include "modules/core/abi.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/stabilization.h"

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Macros
#define	VERTICAL_CTRL_MODULE_AGL_ID   ABI_BROADCAST
#define	VERTICAL_CTRL_MODULE_PGAIN   1.0
#define	VERTICAL_CTRL_MODULE_IGAIN   0.01

Functions
static void	vertical_ctrl_agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
	Callback function of the ground altitude. More...
void	vertical_ctrl_module_init (void)
static struct ThrustSetpoint	vertical_ctrl_module_run (bool in_flight)
void	guidance_module_enter (void)
	Entering the module (user switched to module) More...
void	guidance_module_run (bool in_flight)

Variables
static abi_event	agl_ev
	The altitude ABI event. More...
struct VerticalCtrlDemo	v_ctrl

Detailed Description

example vertical controller

Definition in file vertical_ctrl_module_demo.c.

Macro Definition Documentation

VERTICAL_CTRL_MODULE_AGL_ID

#define VERTICAL_CTRL_MODULE_AGL_ID   ABI_BROADCAST

Definition at line 38 of file vertical_ctrl_module_demo.c.

VERTICAL_CTRL_MODULE_IGAIN

#define VERTICAL_CTRL_MODULE_IGAIN   0.01

Definition at line 47 of file vertical_ctrl_module_demo.c.

VERTICAL_CTRL_MODULE_PGAIN

#define VERTICAL_CTRL_MODULE_PGAIN   1.0

Definition at line 43 of file vertical_ctrl_module_demo.c.

Function Documentation

guidance_module_enter()

void guidance_module_enter

(

void

)

Entering the module (user switched to module)

Definition at line 97 of file vertical_ctrl_module_demo.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_HOVER, VerticalCtrlDemo::sum_err, and v_ctrl.

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guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Definition at line 105 of file vertical_ctrl_module_demo.c.

References Stabilization::cmd, guidance_h_run(), stabilization, stabilization_run(), and vertical_ctrl_module_run().

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vertical_ctrl_agl_cb()

static void vertical_ctrl_agl_cb ( uint8_t sender_id  , uint32_t  stamp, float  distance  )

static

Callback function of the ground altitude.

Definition at line 89 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, and v_ctrl.

Referenced by vertical_ctrl_module_init().

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vertical_ctrl_module_init()

void vertical_ctrl_module_init

(

void

)

Definition at line 58 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, agl_ev, VerticalCtrlDemo::igain, VerticalCtrlDemo::pgain, VerticalCtrlDemo::setpoint, VerticalCtrlDemo::sum_err, v_ctrl, vertical_ctrl_agl_cb(), VERTICAL_CTRL_MODULE_AGL_ID, VERTICAL_CTRL_MODULE_IGAIN, and VERTICAL_CTRL_MODULE_PGAIN.

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vertical_ctrl_module_run()

static struct ThrustSetpoint vertical_ctrl_module_run ( bool  in_flight )

static

Definition at line 58 of file vertical_ctrl_module_demo.c.

Referenced by guidance_module_run().

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Variable Documentation

agl_ev

abi_event agl_ev

static

The altitude ABI event.

Definition at line 50 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

v_ctrl

struct VerticalCtrlDemo v_ctrl

Definition at line 53 of file vertical_ctrl_module_demo.c.

Referenced by guidance_module_enter(), vertical_ctrl_agl_cb(), and vertical_ctrl_module_init().