Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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guidance_v.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef GUIDANCE_V
28 #define GUIDANCE_V
29 
30 #include "std.h"
31 
32 #include "generated/airframe.h"
34 
36 
37 #define GUIDANCE_V_MODE_KILL 0
38 #define GUIDANCE_V_MODE_RC_DIRECT 1
39 #define GUIDANCE_V_MODE_RC_CLIMB 2
40 #define GUIDANCE_V_MODE_CLIMB 3
41 #define GUIDANCE_V_MODE_HOVER 4
42 #define GUIDANCE_V_MODE_NAV 5
43 
45 
51 
57 
63 
69 
75 
79 
85 
90 extern float guidance_v_nominal_throttle;
91 
92 extern int32_t guidance_v_kp;
93 extern int32_t guidance_v_kd;
94 extern int32_t guidance_v_ki;
95 
96 extern void guidance_v_init(void);
97 extern void guidance_v_read_rc(void);
98 extern void guidance_v_mode_changed(uint8_t new_mode);
99 extern void guidance_v_notify_in_flight(bool_t in_flight);
100 extern void guidance_v_run(bool_t in_flight);
101 
102 #define guidance_v_SetKi(_val) { \
103  guidance_v_ki = _val; \
104  guidance_v_z_sum_err = 0; \
105  }
106 
107 #endif /* GUIDANCE_V */
int32_t guidance_v_fb_cmd
feed-back command
Definition: guidance_v.c:56
void guidance_v_run(bool_t in_flight)
Definition: guidance_v.c:162
int32_t guidance_v_kd
vertical control D-gain
Definition: guidance_v.c:80
int32_t guidance_v_zdd_ref
vertical acceleration reference in meter/s^2.
Definition: guidance_v.c:77
void guidance_v_read_rc(void)
Definition: guidance_v.c:115
int32_t guidance_v_z_sp
altitude setpoint in meters (input).
Definition: guidance_v.c:73
uint8_t guidance_v_mode
Definition: guidance_v.c:54
void guidance_v_init(void)
Definition: guidance_v.c:97
int32_t guidance_v_zd_sp
vertical speed setpoint in meter/s (input).
Definition: guidance_v.c:74
void guidance_v_mode_changed(uint8_t new_mode)
Definition: guidance_v.c:126
Adaptation bloc of the vertical guidance.
int32_t guidance_v_z_sum_err
accumulator for I-gain
Definition: guidance_v.c:83
signed long int32_t
Definition: types.h:19
float guidance_v_nominal_throttle
nominal throttle for hover.
Definition: guidance_v.c:59
int32_t guidance_v_zd_ref
vertical speed reference in meter/s.
Definition: guidance_v.c:76
unsigned char uint8_t
Definition: types.h:14
int32_t guidance_v_ff_cmd
feed-forward command
Definition: guidance_v.c:55
Reference generation for vertical guidance.
int32_t guidance_v_delta_t
thrust command.
Definition: guidance_v.c:57
int32_t guidance_v_kp
vertical control P-gain
Definition: guidance_v.c:79
void guidance_v_notify_in_flight(bool_t in_flight)
Definition: guidance_v.c:155
int32_t guidance_v_ki
vertical control I-gain
Definition: guidance_v.c:81
int32_t guidance_v_z_ref
altitude reference in meters.
Definition: guidance_v.c:75