Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
guidance_h_ref.h File Reference

Reference generation for horizontal guidance. More...

#include "inttypes.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
+ Include dependency graph for guidance_h_ref.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros

#define GH_FREQ_FRAC   9
 Update frequency. More...
 
#define GH_FREQ   (1<<GH_FREQ_FRAC)
 
#define GH_ACCEL_REF_FRAC   8
 
#define GH_SPEED_REF_FRAC   (GH_ACCEL_REF_FRAC + GH_FREQ_FRAC)
 
#define GH_POS_REF_FRAC   (GH_SPEED_REF_FRAC + GH_FREQ_FRAC)
 

Functions

void gh_set_ref (struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel)
 
void gh_update_ref_from_pos_sp (struct Int32Vect2 pos_sp)
 
void gh_update_ref_from_speed_sp (struct Int32Vect2 speed_sp)
 

Variables

struct Int32Vect2 gh_accel_ref
 Reference model acceleration. More...
 
struct Int32Vect2 gh_speed_ref
 Reference model speed. More...
 
struct Int64Vect2 gh_pos_ref
 

Detailed Description

Reference generation for horizontal guidance.

Definition in file guidance_h_ref.h.

Macro Definition Documentation

#define GH_ACCEL_REF_FRAC   8
#define GH_FREQ   (1<<GH_FREQ_FRAC)

Definition at line 37 of file guidance_h_ref.h.

#define GH_FREQ_FRAC   9

Update frequency.

Definition at line 36 of file guidance_h_ref.h.

#define GH_POS_REF_FRAC   (GH_SPEED_REF_FRAC + GH_FREQ_FRAC)

Function Documentation

void gh_set_ref ( struct Int32Vect2  pos,
struct Int32Vect2  speed,
struct Int32Vect2  accel 
)

Variable Documentation

struct Int32Vect2 gh_accel_ref

Reference model acceleration.

in meters/sec2 (output) fixed point representation: Q23.8 accuracy 0.0039, range 8388km/s2

Definition at line 35 of file guidance_h_ref.c.

Referenced by gh_set_ref(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), and guidance_h_update_reference().

struct Int32Vect2 gh_speed_ref

Reference model speed.

in meters/sec with fixedpoint representation: Q14.17 accuracy 0.0000076 , range 16384m/s

Definition at line 42 of file guidance_h_ref.c.

Referenced by gh_set_ref(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), and guidance_h_update_reference().