Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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guidance_common.h File Reference
#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_climb_setpoint
 
uint8_t v_ctl_climb_mode
 
uint8_t v_ctl_auto_throttle_submode
 
float v_ctl_auto_throttle_sum_err
 
float v_ctl_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
float v_ctl_auto_airspeed_controlled
 
float v_ctl_auto_groundspeed_setpoint
 in meters per second More...
 
float v_ctl_auto_throttle_cruise_throttle
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 

Macro Definition Documentation

#define guidance_v_SetAutoThrottleIgain (   _v)
Value:
{ \
}
float v_ctl_auto_throttle_igain
Definition: guidance_v.c:61
float v_ctl_auto_throttle_sum_err
Definition: energy_ctrl.c:80

Definition at line 80 of file guidance_common.h.

#define guidance_v_SetCruiseThrottle (   _v)
Value:

Definition at line 75 of file guidance_common.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 47 of file guidance_common.h.

Referenced by v_ctl_climb_loop().

#define V_CTL_CLIMB_MODE_AUTO_THROTTLE   0

Definition at line 46 of file guidance_common.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 39 of file guidance_common.h.

Referenced by nav_home(), and navigation_task().

#define V_CTL_MODE_AUTO_CLIMB   2

Definition at line 38 of file guidance_common.h.

Referenced by attitude_loop(), nav_periodic_task(), and v_ctl_climb_loop().

#define V_CTL_MODE_AUTO_THROTTLE   1

Definition at line 37 of file guidance_common.h.

Referenced by attitude_loop(), and nav_without_gps().

#define V_CTL_MODE_MANUAL   0

Definition at line 36 of file guidance_common.h.

Referenced by v_ctl_init().

#define V_CTL_MODE_NB   4

Definition at line 40 of file guidance_common.h.

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 264 of file energy_ctrl.c.

void v_ctl_climb_loop ( void  )

Definition at line 301 of file energy_ctrl.c.

void v_ctl_init ( void  )

Definition at line 194 of file energy_ctrl.c.

void v_ctl_throttle_slew ( void  )

Computes throttle_slewed from throttle_setpoint.

Computes throttle_slewed from throttle_setpoint.

Definition at line 411 of file energy_ctrl.c.

Variable Documentation

float v_ctl_altitude_error

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

Definition at line 95 of file energy_ctrl.c.

float v_ctl_auto_airspeed_controlled

Definition at line 126 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_setpoint

in meters per second

Definition at line 128 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 106 of file energy_ctrl.c.

uint8_t v_ctl_auto_throttle_submode

Definition at line 79 of file energy_ctrl.c.

float v_ctl_auto_throttle_sum_err

Definition at line 80 of file energy_ctrl.c.

uint8_t v_ctl_climb_mode

Definition at line 78 of file energy_ctrl.c.

float v_ctl_climb_setpoint

Definition at line 101 of file energy_ctrl.c.

uint8_t v_ctl_mode

Definition at line 77 of file energy_ctrl.c.

pprz_t v_ctl_throttle_setpoint

Definition at line 134 of file energy_ctrl.c.

pprz_t v_ctl_throttle_slewed

Definition at line 135 of file energy_ctrl.c.