Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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guidance_h_ref.h File Reference
#include "generated/airframe.h"
#include "inttypes.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
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Macros

#define B2_GH_FREQ_FRAC   9
 
#define B2_GH_FREQ   (1<<B2_GH_FREQ_FRAC)
 
#define B2_GH_ACCEL_REF_FRAC   8
 
#define B2_GH_SPEED_REF_FRAC   (B2_GH_ACCEL_REF_FRAC + B2_GH_FREQ_FRAC)
 
#define B2_GH_POS_REF_FRAC   (B2_GH_SPEED_REF_FRAC + B2_GH_FREQ_FRAC)
 
#define GUIDANCE_H_REF_MAX_ACCEL   ( tanf(RadOfDeg(30.))*9.81 )
 
#define B2_GH_MAX_ACCEL   BFP_OF_REAL(GUIDANCE_H_REF_MAX_ACCEL, B2_GH_ACCEL_REF_FRAC)
 
#define GUIDANCE_H_REF_MAX_SPEED   ( 5. )
 
#define B2_GH_MAX_SPEED   BFP_OF_REAL(GUIDANCE_H_REF_MAX_SPEED, B2_GH_SPEED_REF_FRAC)
 
#define GUIDANCE_H_REF_OMEGA   RadOfDeg(67.)
 
#define GUIDANCE_H_REF_ZETA   0.85
 
#define B2_GH_ZETA_OMEGA_FRAC   10
 
#define B2_GH_ZETA_OMEGA   BFP_OF_REAL((GUIDANCE_H_REF_ZETA*GUIDANCE_H_REF_OMEGA), B2_GH_ZETA_OMEGA_FRAC)
 
#define B2_GH_OMEGA_2_FRAC   7
 
#define B2_GH_OMEGA_2   BFP_OF_REAL((GUIDANCE_H_REF_OMEGA*GUIDANCE_H_REF_OMEGA), B2_GH_OMEGA_2_FRAC)
 
#define B2_GH_REF_THAU_F   0.5
 
#define B2_GH_REF_INV_THAU_FRAC   16
 
#define B2_GH_REF_INV_THAU   BFP_OF_REAL((1./B2_GH_REF_THAU_F), B2_GH_REF_INV_THAU_FRAC)
 

Variables

struct Int32Vect2 b2_gh_accel_ref
 
struct Int32Vect2 b2_gh_speed_ref
 
struct Int64Vect2 b2_gh_pos_ref
 

Macro Definition Documentation

#define B2_GH_ACCEL_REF_FRAC   8

Definition at line 43 of file guidance_h_ref.h.

Referenced by guidance_h_update_reference().

#define B2_GH_FREQ   (1<<B2_GH_FREQ_FRAC)

Definition at line 37 of file guidance_h_ref.h.

#define B2_GH_FREQ_FRAC   9

Definition at line 36 of file guidance_h_ref.h.

Definition at line 59 of file guidance_h_ref.h.

Definition at line 64 of file guidance_h_ref.h.

Definition at line 76 of file guidance_h_ref.h.

#define B2_GH_OMEGA_2_FRAC   7

Definition at line 75 of file guidance_h_ref.h.

#define B2_GH_POS_REF_FRAC   (B2_GH_SPEED_REF_FRAC + B2_GH_FREQ_FRAC)

Definition at line 53 of file guidance_h_ref.h.

Referenced by guidance_h_update_reference().

#define B2_GH_REF_INV_THAU   BFP_OF_REAL((1./B2_GH_REF_THAU_F), B2_GH_REF_INV_THAU_FRAC)

Definition at line 81 of file guidance_h_ref.h.

#define B2_GH_REF_INV_THAU_FRAC   16

Definition at line 80 of file guidance_h_ref.h.

#define B2_GH_REF_THAU_F   0.5

Definition at line 79 of file guidance_h_ref.h.

#define B2_GH_SPEED_REF_FRAC   (B2_GH_ACCEL_REF_FRAC + B2_GH_FREQ_FRAC)

Definition at line 48 of file guidance_h_ref.h.

Referenced by guidance_h_update_reference().

Definition at line 74 of file guidance_h_ref.h.

#define B2_GH_ZETA_OMEGA_FRAC   10

Definition at line 73 of file guidance_h_ref.h.

#define GUIDANCE_H_REF_MAX_ACCEL   ( tanf(RadOfDeg(30.))*9.81 )

Definition at line 57 of file guidance_h_ref.h.

#define GUIDANCE_H_REF_MAX_SPEED   ( 5. )

Definition at line 62 of file guidance_h_ref.h.

#define GUIDANCE_H_REF_OMEGA   RadOfDeg(67.)

Definition at line 68 of file guidance_h_ref.h.

#define GUIDANCE_H_REF_ZETA   0.85

Definition at line 71 of file guidance_h_ref.h.

Variable Documentation

struct Int32Vect2 b2_gh_accel_ref
struct Int64Vect2 b2_gh_pos_ref
struct Int32Vect2 b2_gh_speed_ref