Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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energy_ctrl.h
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1 /*
2  * Copyright (C) 2012 TUDelft, Tobias Muench
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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20  */
21 
28 #ifndef FW_V_CTL_ENERGY_H
29 #define FW_V_CTL_ENERGY_H
30 
32 
33 /* outer loop */
34 // extern float v_ctl_altitude_error; ///< in meters, (setpoint - alt) -> positive = too low
35 extern float v_ctl_altitude_setpoint;
36 extern float v_ctl_altitude_pre_climb;
37 extern float v_ctl_altitude_pgain;
38 extern float v_ctl_airspeed_pgain;
39 
40 extern float v_ctl_auto_airspeed_setpoint;
41 
42 extern float v_ctl_max_climb;
43 extern float v_ctl_max_acceleration;
44 
45 /* "auto throttle" inner loop parameters */
46 extern float v_ctl_desired_acceleration;
47 
52 
58 
59 extern float v_ctl_energy_total_pgain;
60 extern float v_ctl_energy_total_igain;
61 
62 extern float v_ctl_energy_diff_pgain;
63 extern float v_ctl_energy_diff_igain;
64 
65 extern float v_ctl_auto_groundspeed_pgain;
66 extern float v_ctl_auto_groundspeed_igain;
68 
70 // Automatically found airplane characteristics
71 
72 extern float ac_char_climb_pitch;
73 extern float ac_char_climb_max;
74 extern float ac_char_descend_pitch;
75 extern float ac_char_descend_max;
76 extern float ac_char_cruise_throttle;
77 extern float ac_char_cruise_pitch;
78 
79 #endif /* FW_V_CTL_H */
float v_ctl_auto_groundspeed_sum_err
Definition: energy_ctrl.c:131
float ac_char_cruise_throttle
Definition: energy_ctrl.c:161
float ac_char_descend_pitch
Definition: energy_ctrl.c:158
float v_ctl_auto_groundspeed_pgain
Definition: energy_ctrl.c:129
float ac_char_cruise_pitch
Definition: energy_ctrl.c:162
float v_ctl_altitude_setpoint
in meters above MSL
Definition: energy_ctrl.c:91
float v_ctl_auto_throttle_pitch_of_vz_pgain
Definition: energy_ctrl.c:110
float v_ctl_energy_total_pgain
Definition: energy_ctrl.c:118
float v_ctl_altitude_pgain
Definition: energy_ctrl.c:93
float v_ctl_auto_throttle_nominal_cruise_pitch
Definition: energy_ctrl.c:108
float v_ctl_altitude_pre_climb
Path Angle.
Definition: energy_ctrl.c:92
Vertical control for fixed wing vehicles.
float v_ctl_energy_total_igain
Definition: energy_ctrl.c:119
float v_ctl_auto_throttle_of_airspeed_pgain
Definition: energy_ctrl.c:112
float ac_char_descend_max
Definition: energy_ctrl.c:159
float v_ctl_energy_diff_pgain
Definition: energy_ctrl.c:121
float v_ctl_airspeed_pgain
Definition: energy_ctrl.c:94
float v_ctl_auto_throttle_nominal_cruise_throttle
Definition: energy_ctrl.c:107
float v_ctl_energy_diff_igain
Definition: energy_ctrl.c:122
float v_ctl_auto_pitch_of_airspeed_igain
Definition: energy_ctrl.c:115
float v_ctl_max_acceleration
Definition: energy_ctrl.c:98
float v_ctl_desired_acceleration
Definition: energy_ctrl.c:104
float v_ctl_auto_pitch_of_airspeed_pgain
Definition: energy_ctrl.c:114
float v_ctl_auto_throttle_climb_throttle_increment
Definition: energy_ctrl.c:109
float v_ctl_max_climb
Definition: energy_ctrl.c:97
float ac_char_climb_max
Definition: energy_ctrl.c:156
float v_ctl_auto_pitch_of_airspeed_dgain
Definition: energy_ctrl.c:116
float v_ctl_auto_groundspeed_igain
Definition: energy_ctrl.c:130
float v_ctl_auto_airspeed_setpoint
in meters per second
Definition: energy_ctrl.c:124
float ac_char_climb_pitch
Definition: energy_ctrl.c:155
float v_ctl_auto_throttle_of_airspeed_igain
Definition: energy_ctrl.c:113