Paparazzi UAS  v4.0.4_stable-3-gf39211a
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guidance_v_n.c File Reference

"New" vertical control for fixed wing vehicles. More...

+ Include dependency graph for guidance_v_n.c:

Go to the source code of this file.

Macros

#define V_CTL_AUTO_THROTTLE_DGAIN   0.
 
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   0.4
 
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   (RadOfDeg(10.))
 
#define V_CTL_AUTO_PITCH_DGAIN   0.
 
#define V_CTL_AUTO_PITCH_IGAIN   0.
 
#define V_CTL_AUTO_CLIMB_LIMIT   (0.5/4.0)
 
#define LEAD_CTRL_TAU   0.8
 outer loop More...
 
#define LEAD_CTRL_A   1.
 
#define LEAD_CTRL_Te   (1./60.)
 
#define V_CTL_THROTTLE_SLEW   (1.)
 

Functions

void v_ctl_init (void)
 
void v_ctl_altitude_loop (void)
 outer loop More...
 
static void v_ctl_set_pitch (void)
 
static void v_ctl_set_throttle (void)
 
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_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_dgain
 
float v_ctl_auto_pitch_igain
 
float v_ctl_auto_pitch_sum_err
 
float controlled_throttle
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 
uint8_t v_ctl_speed_mode
 

Detailed Description

"New" vertical control for fixed wing vehicles.

Definition in file guidance_v_n.c.

Macro Definition Documentation

#define LEAD_CTRL_A   1.

Definition at line 180 of file guidance_v_n.c.

#define LEAD_CTRL_TAU   0.8

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 179 of file guidance_v_n.c.

#define LEAD_CTRL_Te   (1./60.)

Definition at line 181 of file guidance_v_n.c.

#define V_CTL_AUTO_CLIMB_LIMIT   (0.5/4.0)

Definition at line 90 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop().

#define V_CTL_AUTO_PITCH_DGAIN   0.

Definition at line 79 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_PITCH_IGAIN   0.

Definition at line 82 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_PITCH_MAX_SUM_ERR   (RadOfDeg(10.))

Definition at line 76 of file guidance_v_n.c.

Referenced by v_ctl_set_pitch().

#define V_CTL_AUTO_THROTTLE_DGAIN   0.

Definition at line 50 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR   0.4

Definition at line 63 of file guidance_v_n.c.

Referenced by v_ctl_set_throttle().

#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN   0.

Definition at line 68 of file guidance_v_n.c.

Referenced by v_ctl_init().

#define V_CTL_THROTTLE_SLEW   (1.)

Definition at line 367 of file guidance_v_n.c.

Referenced by v_ctl_throttle_slew().

Function Documentation

static void v_ctl_set_pitch ( void  )
inlinestatic
void v_ctl_throttle_slew ( void  )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 372 of file guidance_v_n.c.

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

Variable Documentation

float controlled_throttle
float v_ctl_altitude_error

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

Definition at line 42 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pgain

Definition at line 41 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb

Definition at line 40 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 39 of file guidance_v_n.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_auto_pitch_dgain

Definition at line 73 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_igain

Definition at line 74 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_pgain

Definition at line 72 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_pitch_sum_err

Definition at line 75 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 58 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 54 of file guidance_v_n.c.

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

float v_ctl_auto_throttle_dgain

Definition at line 61 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_igain

Definition at line 60 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_max_cruise_throttle

Definition at line 57 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_min_cruise_throttle

Definition at line 56 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 55 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_pgain

Definition at line 59 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_pitch_of_vz_dgain

Definition at line 65 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 64 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_pitch().

uint8_t v_ctl_auto_throttle_submode

Definition at line 47 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_auto_throttle_sum_err

Definition at line 62 of file guidance_v_n.c.

Referenced by v_ctl_init(), and v_ctl_set_throttle().

uint8_t v_ctl_climb_mode

Definition at line 46 of file guidance_v_n.c.

Referenced by v_ctl_init().

float v_ctl_climb_setpoint
uint8_t v_ctl_mode

Definition at line 36 of file guidance_v_n.c.

Referenced by v_ctl_init().

uint8_t v_ctl_speed_mode

Definition at line 92 of file guidance_v_n.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

pprz_t v_ctl_throttle_setpoint

Definition at line 86 of file guidance_v_n.c.

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

pprz_t v_ctl_throttle_slewed

Definition at line 87 of file guidance_v_n.c.

Referenced by v_ctl_throttle_slew().