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

Vertical control for fixed wing vehicles. More...

#include <inttypes.h>
#include "paparazzi.h"
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Go to the source code of this file.

Macros

#define V_CTL_MODE_MANUAL   0
 
#define V_CTL_MODE_AUTO_THROTTLE   1
 
#define V_CTL_MODE_AUTO_CLIMB   2
 
#define V_CTL_MODE_AUTO_ALT   3
 
#define V_CTL_MODE_NB   4
 
#define V_CTL_CLIMB_MODE_AUTO_THROTTLE   0
 
#define V_CTL_CLIMB_MODE_AUTO_PITCH   1
 
#define V_CTL_AUTO_THROTTLE_STANDARD   0
 
#define V_CTL_AUTO_THROTTLE_AGRESSIVE   1
 
#define V_CTL_AUTO_THROTTLE_BLENDED   2
 
#define guidance_v_SetCruiseThrottle(_v)
 
#define guidance_v_SetAutoThrottleIgain(_v)
 

Functions

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 throttle_slewed from throttle_setpoint. More...
 

Variables

uint8_t v_ctl_mode
 
float v_ctl_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
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_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_nominal_cruise_throttle
 
float v_ctl_auto_throttle_min_cruise_throttle
 
float v_ctl_auto_throttle_max_cruise_throttle
 
float v_ctl_auto_throttle_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.h.

Macro Definition Documentation

#define guidance_v_SetAutoThrottleIgain (   _v)
Value:
{ \
}
float v_ctl_auto_throttle_sum_err
Definition: guidance_v.c:63
float v_ctl_auto_throttle_igain
Definition: guidance_v.c:61

Definition at line 117 of file guidance_v.h.

#define guidance_v_SetCruiseThrottle (   _v)
Value:

Definition at line 112 of file guidance_v.h.

#define V_CTL_AUTO_THROTTLE_AGRESSIVE   1
#define V_CTL_AUTO_THROTTLE_BLENDED   2
#define V_CTL_AUTO_THROTTLE_STANDARD   0
#define V_CTL_CLIMB_MODE_AUTO_PITCH   1

Definition at line 54 of file guidance_v.h.

Referenced by v_ctl_climb_loop().

#define V_CTL_CLIMB_MODE_AUTO_THROTTLE   0

Definition at line 53 of file guidance_v.h.

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

#define V_CTL_MODE_AUTO_ALT   3

Definition at line 38 of file guidance_v.h.

Referenced by nav_home(), and navigation_task().

#define V_CTL_MODE_AUTO_CLIMB   2

Definition at line 37 of file guidance_v.h.

Referenced by nav_periodic_task(), and navigation_task().

#define V_CTL_MODE_AUTO_THROTTLE   1

Definition at line 36 of file guidance_v.h.

Referenced by nav_without_gps(), and navigation_task().

#define V_CTL_MODE_MANUAL   0

Definition at line 35 of file guidance_v.h.

Referenced by v_ctl_init().

#define V_CTL_MODE_NB   4

Definition at line 39 of file guidance_v.h.

Function Documentation

void v_ctl_throttle_slew ( void  )

Computes throttle_slewed from throttle_setpoint.

Computes throttle_slewed from throttle_setpoint.

Definition at line 390 of file guidance_v.c.

References MAX_PPRZ, TRIM_PPRZ, v_ctl_throttle_setpoint, V_CTL_THROTTLE_SLEW, and v_ctl_throttle_slewed.

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(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_pgain

Definition at line 83 of file guidance_v.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_sum_err

Definition at line 85 of file guidance_v.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

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(), v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_dgain

Definition at line 62 of file guidance_v.c.

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

float v_ctl_auto_throttle_igain

Definition at line 61 of file guidance_v.c.

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

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(), v_ctl_init(), and v_ctl_set_throttle().

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(), v_ctl_init(), and v_ctl_set_pitch().

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(), v_ctl_init(), and v_ctl_set_throttle().

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
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().