Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_adaptive.c File Reference
#include "std.h"
#include "led.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/stabilization/stabilization_adaptive.h"
#include "estimator.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"
+ Include dependency graph for stabilization_adaptive.c:

Go to the source code of this file.

Macros

#define H_CTL_REF_W   5.
 
#define H_CTL_REF_XI   0.85
 
#define H_CTL_REF_MAX_P   RadOfDeg(150.)
 
#define H_CTL_REF_MAX_P_DOT   RadOfDeg(500.)
 
#define H_CTL_REF_MAX_Q   RadOfDeg(150.)
 
#define H_CTL_REF_MAX_Q_DOT   RadOfDeg(500.)
 
#define AIRSPEED_RATIO_MIN   0.5
 
#define AIRSPEED_RATIO_MAX   2.
 
#define H_CTL_COURSE_PRE_BANK_CORRECTION   1.
 
#define H_CTL_COURSE_DGAIN   0.
 
#define H_CTL_ROLL_RATE_GAIN   0.
 
#define H_CTL_ROLL_IGAIN   0.
 
#define H_CTL_ROLL_KFFA   0.
 
#define H_CTL_ROLL_KFFD   0.
 
#define H_CTL_PITCH_DGAIN   0.
 
#define H_CTL_PITCH_IGAIN   0.
 
#define H_CTL_PITCH_KFFA   0.
 
#define H_CTL_PITCH_KFFD   0.
 
#define H_CTL_REF_DT   (1./60.)
 
#define KFFA_UPDATE   0.1
 
#define KFFD_UPDATE   0.05
 

Functions

static void h_ctl_roll_loop (void)
 
static void h_ctl_pitch_loop (void)
 
void h_ctl_init (void)
 
void h_ctl_course_loop (void)
 
void h_ctl_attitude_loop (void)
 

Variables

float h_ctl_course_setpoint
 fixed wing horizontal adaptive control More...
 
float h_ctl_course_pre_bank
 
float h_ctl_course_pre_bank_correction
 
float h_ctl_course_pgain
 
float h_ctl_course_dgain
 
float h_ctl_roll_max_setpoint
 
bool_t h_ctl_disabled
 
bool_t h_ctl_auto1_rate
 
float h_ctl_ref_roll_angle
 
float h_ctl_ref_roll_rate
 
float h_ctl_ref_roll_accel
 
float h_ctl_ref_pitch_angle
 
float h_ctl_ref_pitch_rate
 
float h_ctl_ref_pitch_accel
 
float h_ctl_roll_setpoint
 
float h_ctl_roll_attitude_gain
 
float h_ctl_roll_rate_gain
 
float h_ctl_roll_igain
 
float h_ctl_roll_sum_err
 fixed wing horizontal adaptive control More...
 
float h_ctl_roll_Kffa
 
float h_ctl_roll_Kffd
 
pprz_t h_ctl_aileron_setpoint
 
float h_ctl_roll_slew
 
float h_ctl_roll_pgain
 
float h_ctl_pitch_setpoint
 
float h_ctl_pitch_loop_setpoint
 
float h_ctl_pitch_pgain
 
float h_ctl_pitch_dgain
 
float h_ctl_pitch_igain
 
float h_ctl_pitch_sum_err
 
float h_ctl_pitch_Kffa
 
float h_ctl_pitch_Kffd
 
pprz_t h_ctl_elevator_setpoint
 
float h_ctl_aileron_of_throttle
 
float h_ctl_elevator_of_roll
 
float h_ctl_pitch_of_roll
 
bool_t use_airspeed_ratio
 
float airspeed_ratio2
 
float v_ctl_pitch_loiter_trim
 
float v_ctl_pitch_dash_trim
 

Macro Definition Documentation

#define AIRSPEED_RATIO_MAX   2.

Definition at line 100 of file stabilization_adaptive.c.

#define AIRSPEED_RATIO_MIN   0.5

Definition at line 99 of file stabilization_adaptive.c.

#define H_CTL_COURSE_DGAIN   0.

Definition at line 114 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_COURSE_PRE_BANK_CORRECTION   1.

Definition at line 111 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_PITCH_DGAIN   0.

Definition at line 137 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_PITCH_IGAIN   0.

Definition at line 140 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_PITCH_KFFA   0.

Definition at line 143 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_PITCH_KFFD   0.

Definition at line 146 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_REF_DT   (1./60.)

Definition at line 249 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop(), and h_ctl_roll_loop().

#define H_CTL_REF_MAX_P   RadOfDeg(150.)

Definition at line 63 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

#define H_CTL_REF_MAX_P_DOT   RadOfDeg(500.)

Definition at line 64 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

#define H_CTL_REF_MAX_Q   RadOfDeg(150.)

Definition at line 65 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop().

#define H_CTL_REF_MAX_Q_DOT   RadOfDeg(500.)

Definition at line 66 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop().

#define H_CTL_REF_W   5.

Definition at line 61 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop(), and h_ctl_roll_loop().

#define H_CTL_REF_XI   0.85

Definition at line 62 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop(), and h_ctl_roll_loop().

#define H_CTL_ROLL_IGAIN   0.

Definition at line 125 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_ROLL_KFFA   0.

Definition at line 128 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_ROLL_KFFD   0.

Definition at line 131 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define H_CTL_ROLL_RATE_GAIN   0.

Definition at line 122 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

#define KFFA_UPDATE   0.1

Definition at line 250 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

#define KFFD_UPDATE   0.05

Definition at line 251 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

Function Documentation

void h_ctl_attitude_loop ( void  )

Definition at line 239 of file stabilization_adaptive.c.

Referenced by attitude_loop().

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void h_ctl_course_loop ( void  )

Definition at line 202 of file stabilization_adaptive.c.

Referenced by navigation_task().

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void h_ctl_init ( void  )

Definition at line 149 of file stabilization_adaptive.c.

Referenced by init_ap().

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Variable Documentation

float airspeed_ratio2

Definition at line 98 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), h_ctl_pitch_loop(), and h_ctl_roll_loop().

float h_ctl_aileron_of_throttle

Definition at line 93 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

pprz_t h_ctl_aileron_setpoint

Definition at line 76 of file stabilization_adaptive.c.

Referenced by attitude_loop(), h_ctl_init(), and h_ctl_roll_loop().

bool_t h_ctl_auto1_rate

Definition at line 52 of file stabilization_adaptive.c.

Referenced by navigation_task().

float h_ctl_course_dgain

Definition at line 45 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pgain

Definition at line 44 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pre_bank

Definition at line 42 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), h_ctl_init(), and nav_periodic_task().

float h_ctl_course_pre_bank_correction

Definition at line 43 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_setpoint

fixed wing horizontal adaptive control

fixed wing horizontal control

Definition at line 41 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), h_ctl_course_loop(), and h_ctl_init().

bool_t h_ctl_disabled

Definition at line 49 of file stabilization_adaptive.c.

Referenced by h_ctl_attitude_loop(), and h_ctl_init().

float h_ctl_elevator_of_roll

Definition at line 94 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

pprz_t h_ctl_elevator_setpoint

Definition at line 90 of file stabilization_adaptive.c.

Referenced by attitude_loop(), h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_dgain

Definition at line 85 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_igain

Definition at line 86 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_Kffa

Definition at line 88 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_Kffd

Definition at line 89 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_loop_setpoint

Definition at line 83 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_of_roll

Definition at line 95 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_pgain

Definition at line 84 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_setpoint
float h_ctl_pitch_sum_err

Definition at line 87 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_ref_pitch_accel

Definition at line 60 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop().

float h_ctl_ref_pitch_angle

Definition at line 58 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop().

float h_ctl_ref_pitch_rate

Definition at line 59 of file stabilization_adaptive.c.

Referenced by h_ctl_pitch_loop().

float h_ctl_ref_roll_accel

Definition at line 57 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

float h_ctl_ref_roll_angle

Definition at line 55 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

float h_ctl_ref_roll_rate

Definition at line 56 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop().

float h_ctl_roll_attitude_gain

Definition at line 70 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_igain

Definition at line 72 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_Kffa

Definition at line 74 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_Kffd

Definition at line 75 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_max_setpoint

Definition at line 46 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), h_ctl_course_loop(), and h_ctl_init().

float h_ctl_roll_pgain

Definition at line 79 of file stabilization_adaptive.c.

float h_ctl_roll_rate_gain

Definition at line 71 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_setpoint
float h_ctl_roll_slew

Definition at line 77 of file stabilization_adaptive.c.

float h_ctl_roll_sum_err

fixed wing horizontal adaptive control

Definition at line 73 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

bool_t use_airspeed_ratio

Definition at line 97 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

float v_ctl_pitch_dash_trim

Definition at line 103 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

float v_ctl_pitch_loiter_trim

Definition at line 102 of file stabilization_adaptive.c.

Referenced by h_ctl_init().