guidance_module.h File Reference

Guidance in a module file. More...

#include "generated/modules.h"

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Detailed Description

Guidance in a module file.

Implement a custom controller in a module. Re-use desired modes:

e.g.: #define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_HOVER can be used to only define a horizontal control in the module and use normal z_hold

The guidance that the module implement must be activated with following defines:

a) Implement own Horizontal loops when GUIDANCE_H_MODE_MODULE_SETTING is set to GUIDANCE_H_MODE_MODULE One must then implement:

• void guidance_h_module_init(void);
• void guidance_h_module_enter(void);
• void guidance_h_module_read_rc(void);
• void guidance_h_module_run(bool in_flight);

b) Implement own Vertical loops when GUIDANCE_V_MODE_MODULE_SETTING is set to GUIDANCE_V_MODE_MODULE

• void guidance_v_module_enter(void);
• void guidance_v_module_run(bool in_flight);

If the module implements both V and H mode, take into account that the H is called first and later V

Definition in file guidance_module.h.