Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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guidance_h_ref.h
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1 /*
2  * Copyright (C) 2008-2013 The Paparazzi Team
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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21 
27 #ifndef GUIDANCE_H_REF_H
28 #define GUIDANCE_H_REF_H
29 
30 #include "inttypes.h"
31 #include "math/pprz_algebra.h"
32 #include "math/pprz_algebra_int.h"
33 
36 #define GH_FREQ_FRAC 9
37 #define GH_FREQ (1<<GH_FREQ_FRAC)
38 
44 extern struct Int32Vect2 gh_accel_ref;
45 #define GH_ACCEL_REF_FRAC 8
46 
52 extern struct Int32Vect2 gh_speed_ref;
53 #define GH_SPEED_REF_FRAC (GH_ACCEL_REF_FRAC + GH_FREQ_FRAC)
54 
55 /* Reference model position.
56  * in meters
57  * with fixedpoint representation: Q37.26
58  */
59 extern struct Int64Vect2 gh_pos_ref;
60 #define GH_POS_REF_FRAC (GH_SPEED_REF_FRAC + GH_FREQ_FRAC)
61 
62 extern void gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel);
63 extern void gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp);
64 extern void gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp);
65 
66 #endif /* GUIDANCE_H_REF_H */
struct Int64Vect2 gh_pos_ref
struct Int32Vect2 gh_accel_ref
Reference model acceleration.
struct Int32Vect2 gh_speed_ref
Reference model speed.
void gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp)
void gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp)
void gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel)
Paparazzi fixed point algebra.