Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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guidance_v.c File Reference

Vertical control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "estimator.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"
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Go to the source code of this file.

Macros

#define V_CTL_AUTO_THROTTLE_DGAIN   0.
 
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   150
 
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   100
 
#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION   1.0f
 
#define V_CTL_THROTTLE_SLEW   1.
 auto pitch inner loop More...
 

Functions

static void v_ctl_climb_auto_throttle_loop (void)
 auto throttle inner loop More...
 
void v_ctl_init (void)
 
void v_ctl_altitude_loop (void)
 outer loop More...
 
void v_ctl_climb_loop (void)
 
void v_ctl_throttle_slew (void)
 Computes slewed throttle from throttle setpoint called at 20Hz. More...
 

Variables

uint8_t v_ctl_mode
 
float v_ctl_altitude_setpoint
 in meters above MSL More...
 
float v_ctl_altitude_pre_climb
 
float v_ctl_altitude_pgain
 
float v_ctl_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
float v_ctl_altitude_pre_climb_correction
 
float v_ctl_altitude_max_climb
 
float v_ctl_climb_setpoint
 
uint8_t v_ctl_climb_mode
 
uint8_t v_ctl_auto_throttle_submode
 
float v_ctl_auto_throttle_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_throttle
 
float v_ctl_auto_throttle_min_cruise_throttle
 
float v_ctl_auto_throttle_max_cruise_throttle
 
float v_ctl_auto_throttle_climb_throttle_increment
 
float v_ctl_auto_throttle_pgain
 
float v_ctl_auto_throttle_igain
 
float v_ctl_auto_throttle_dgain
 
float v_ctl_auto_throttle_sum_err
 
float v_ctl_auto_throttle_pitch_of_vz_pgain
 
float v_ctl_auto_throttle_pitch_of_vz_dgain
 
float v_ctl_auto_pitch_pgain
 
float v_ctl_auto_pitch_igain
 
float v_ctl_auto_pitch_sum_err
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 

Detailed Description

Vertical control for fixed wing vehicles.

Definition in file guidance_v.c.

Macro Definition Documentation

#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION   1.0f

Definition at line 115 of file guidance_v.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   100

Definition at line 86 of file guidance_v.c.

#define V_CTL_AUTO_THROTTLE_DGAIN   0.

Definition at line 51 of file guidance_v.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   150

Definition at line 64 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop().

#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.

Definition at line 69 of file guidance_v.c.

Referenced by v_ctl_init().

#define V_CTL_THROTTLE_SLEW   1.

auto pitch inner loop

computes a nav_pitch from a climb_setpoint given a fixed throttle

Definition at line 385 of file guidance_v.c.

Referenced by ArduIMU_init(), and v_ctl_throttle_slew().

Function Documentation

void v_ctl_altitude_loop ( void  )

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 198 of file guidance_v.c.

Referenced by navigation_task().

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void v_ctl_climb_loop ( void  )

Definition at line 231 of file guidance_v.c.

Referenced by navigation_task().

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void v_ctl_init ( void  )

Definition at line 119 of file guidance_v.c.

Referenced by init_ap().

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void v_ctl_throttle_slew ( void  )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 390 of file guidance_v.c.

Referenced by attitude_loop().

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Variable Documentation

float v_ctl_altitude_error

in meters, (setpoint - alt) -> positive = too low

Definition at line 41 of file guidance_v.c.

Referenced by h_ctl_course_loop(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_altitude_max_climb

Definition at line 43 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pgain

Definition at line 40 of file guidance_v.c.

Referenced by gls(), v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb

Definition at line 39 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb_correction

Definition at line 42 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 38 of file guidance_v.c.

Referenced by flight_benchmark_periodic(), nav_set_altitude(), v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_auto_pitch_igain

Definition at line 84 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_pitch_pgain

Definition at line 83 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_pitch_sum_err

Definition at line 85 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 59 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_cruise_throttle
float v_ctl_auto_throttle_dgain

Definition at line 62 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_igain

Definition at line 61 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_max_cruise_throttle

Definition at line 58 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_min_cruise_throttle

Definition at line 57 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 56 of file guidance_v.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_pgain

Definition at line 60 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_dgain

Definition at line 66 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 65 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

uint8_t v_ctl_auto_throttle_submode
float v_ctl_auto_throttle_sum_err

Definition at line 63 of file guidance_v.c.

Referenced by v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

uint8_t v_ctl_climb_mode

Definition at line 47 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_climb_setpoint

Definition at line 46 of file guidance_v.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

uint8_t v_ctl_mode
pprz_t v_ctl_throttle_slewed

Definition at line 89 of file guidance_v.c.

Referenced by attitude_loop(), and v_ctl_throttle_slew().