Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
vertical_ctrl_module_demo.c File Reference

example vertical controller More...

#include "modules/ctrl/vertical_ctrl_module_demo.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include "subsystems/abi.h"
#include "firmwares/rotorcraft/stabilization.h"
+ Include dependency graph for vertical_ctrl_module_demo.c:

Go to the source code of this file.

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)
 
void vertical_ctrl_module_run (bool in_flight)
 
void guidance_v_module_init (void)
 
void guidance_v_module_enter (void)
 Entering the vertical module (user switched to module) More...
 
void guidance_v_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

#define VERTICAL_CTRL_MODULE_AGL_ID   ABI_BROADCAST

Definition at line 36 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

#define VERTICAL_CTRL_MODULE_IGAIN   0.01

Definition at line 45 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

#define VERTICAL_CTRL_MODULE_PGAIN   1.0

Definition at line 41 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

Function Documentation

void guidance_v_module_enter ( void  )

Entering the vertical module (user switched to module)

Entering the vertical module (user switched to module)

Definition at line 101 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::sum_err, and v_ctrl.

void guidance_v_module_init ( void  )

Definition at line 96 of file vertical_ctrl_module_demo.c.

References vertical_ctrl_module_init().

+ Here is the call graph for this function:

void guidance_v_module_run ( bool  in_flight)

Definition at line 107 of file vertical_ctrl_module_demo.c.

References AP_MODE_NAV, autopilot_static_set_mode(), Electrical::bat_low, electrical, and vertical_ctrl_module_run().

+ Here is the call graph for this function:

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 88 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, and v_ctrl.

Referenced by vertical_ctrl_module_init().

+ Here is the caller graph for this function:

void vertical_ctrl_module_init ( void  )
void vertical_ctrl_module_run ( bool  in_flight)

Variable Documentation

abi_event agl_ev
static

The altitude ABI event.

Definition at line 48 of file vertical_ctrl_module_demo.c.