Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
vertical_ctrl_module_demo.h
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/*
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* Copyright (C) 2015
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef VERTICAL_CTRL_MODULE_DEMO_H_
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#define VERTICAL_CTRL_MODULE_DEMO_H_
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#include "
std.h
"
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struct
VerticalCtrlDemo
{
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float
agl
;
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float
setpoint
;
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float
pgain
;
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float
igain
;
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float
sum_err
;
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};
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extern
struct
VerticalCtrlDemo
v_ctrl
;
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// for example use the standard horizontal (hover) mode
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#define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_HOVER
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// and own guidance_v
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#define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE
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extern
void
vertical_ctrl_module_init
(
void
);
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// Implement own Vertical loops
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extern
void
guidance_module_enter
(
void
);
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extern
void
guidance_module_run
(
bool
in_flight);
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#endif
/* VERTICAL_CTRL_MODULE_DEMO_H_ */
std.h
VerticalCtrlDemo::sum_err
float sum_err
Definition:
vertical_ctrl_module_demo.h:38
vertical_ctrl_module_init
void vertical_ctrl_module_init(void)
Definition:
vertical_ctrl_module_demo.c:58
VerticalCtrlDemo::agl
float agl
Definition:
vertical_ctrl_module_demo.h:34
VerticalCtrlDemo::setpoint
float setpoint
Definition:
vertical_ctrl_module_demo.h:35
VerticalCtrlDemo::pgain
float pgain
Definition:
vertical_ctrl_module_demo.h:36
VerticalCtrlDemo::igain
float igain
Definition:
vertical_ctrl_module_demo.h:37
guidance_module_enter
void guidance_module_enter(void)
Entering the module (user switched to module)
Definition:
ctrl_module_innerloop_demo.c:77
guidance_module_run
void guidance_module_run(bool in_flight)
Main guidance loop.
Definition:
ctrl_module_innerloop_demo.c:82
v_ctrl
struct VerticalCtrlDemo v_ctrl
Definition:
vertical_ctrl_module_demo.c:55
VerticalCtrlDemo
Definition:
vertical_ctrl_module_demo.h:33
sw
airborne
modules
ctrl
vertical_ctrl_module_demo.h
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