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

#define GUIDANCE_H_MODE_KILL   0
 
#define GUIDANCE_H_MODE_RATE   1
 
#define GUIDANCE_H_MODE_ATTITUDE   2
 
#define GUIDANCE_H_MODE_HOVER   3
 
#define GUIDANCE_H_MODE_NAV   4
 
#define GUIDANCE_H_MODE_RC_DIRECT   5
 
#define guidance_h_SetKi(_val)
 

Functions

void guidance_h_init (void)
 
void guidance_h_mode_changed (uint8_t new_mode)
 
void guidance_h_read_rc (bool_t in_flight)
 
void guidance_h_run (bool_t in_flight)
 

Variables

uint8_t guidance_h_mode
 
struct Int32Vect2 guidance_h_pos_sp
 horizontal position setpoint in NED. More...
 
struct Int32Vect2 guidance_h_pos_ref
 
struct Int32Vect2 guidance_h_speed_ref
 
struct Int32Vect2 guidance_h_accel_ref
 
struct Int32Vect2 guidance_h_pos_err
 
struct Int32Vect2 guidance_h_speed_err
 
struct Int32Vect2 guidance_h_pos_err_sum
 
struct Int32Vect2 guidance_h_nav_err
 
struct Int32Eulers guidance_h_rc_sp
 with INT32_ANGLE_FRAC More...
 
struct Int32Vect2 guidance_h_command_earth
 
struct Int32Eulers guidance_h_command_body
 with INT32_ANGLE_FRAC More...
 
int32_t guidance_h_pgain
 
int32_t guidance_h_dgain
 
int32_t guidance_h_igain
 
int32_t guidance_h_again
 

Macro Definition Documentation

#define GUIDANCE_H_MODE_ATTITUDE   2
#define GUIDANCE_H_MODE_HOVER   3
#define GUIDANCE_H_MODE_KILL   0

Definition at line 35 of file guidance_h.h.

Referenced by autopilot_set_mode(), and guidance_h_init().

#define GUIDANCE_H_MODE_NAV   4
#define GUIDANCE_H_MODE_RATE   1
#define GUIDANCE_H_MODE_RC_DIRECT   5
#define guidance_h_SetKi (   _val)
Value:
{ \
}
struct Int32Vect2 guidance_h_pos_err_sum
Definition: guidance_h.c:48
#define INT_VECT2_ZERO(_v)
int32_t guidance_h_igain
Definition: guidance_h.c:58

Definition at line 76 of file guidance_h.h.

Function Documentation

void guidance_h_mode_changed ( uint8_t  new_mode)

Variable Documentation

struct Int32Vect2 guidance_h_accel_ref

Definition at line 44 of file guidance_h.c.

Referenced by guidance_h_traj_run(), and guidance_h_update_reference().

int32_t guidance_h_again

Definition at line 59 of file guidance_h.c.

Referenced by guidance_h_init(), and guidance_h_traj_run().

struct Int32Eulers guidance_h_command_body

with INT32_ANGLE_FRAC

Definition at line 54 of file guidance_h.c.

Referenced by guidance_h_init(), guidance_h_run(), and guidance_h_traj_run().

struct Int32Vect2 guidance_h_command_earth

Definition at line 52 of file guidance_h.c.

Referenced by guidance_h_traj_run().

int32_t guidance_h_dgain

Definition at line 57 of file guidance_h.c.

Referenced by guidance_h_init(), and guidance_h_traj_run().

int32_t guidance_h_igain

Definition at line 58 of file guidance_h.c.

Referenced by guidance_h_init(), and guidance_h_traj_run().

uint8_t guidance_h_mode
struct Int32Vect2 guidance_h_nav_err

Definition at line 49 of file guidance_h.c.

int32_t guidance_h_pgain

Definition at line 56 of file guidance_h.c.

Referenced by guidance_h_init(), and guidance_h_traj_run().

struct Int32Vect2 guidance_h_pos_err

Definition at line 46 of file guidance_h.c.

Referenced by guidance_h_traj_run().

struct Int32Vect2 guidance_h_pos_err_sum
struct Int32Vect2 guidance_h_pos_ref

Definition at line 42 of file guidance_h.c.

Referenced by guidance_h_traj_run(), and guidance_h_update_reference().

struct Int32Vect2 guidance_h_pos_sp

horizontal position setpoint in NED.

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 41 of file guidance_h.c.

Referenced by guidance_h_hover_enter(), guidance_h_init(), guidance_h_nav_enter(), guidance_h_run(), and guidance_h_update_reference().

struct Int32Vect2 guidance_h_speed_err

Definition at line 47 of file guidance_h.c.

Referenced by guidance_h_traj_run().

struct Int32Vect2 guidance_h_speed_ref

Definition at line 43 of file guidance_h.c.

Referenced by guidance_h_traj_run(), and guidance_h_update_reference().