guidance_v.h

Go to the documentation of this file.

/*
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef GUIDANCE_V_H
#define GUIDANCE_V_H

#include "std.h"

#include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
#include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"

#define GUIDANCE_V_MODE_KILL      0
#define GUIDANCE_V_MODE_RC_DIRECT 1
#define GUIDANCE_V_MODE_RC_CLIMB  2
#define GUIDANCE_V_MODE_CLIMB     3
#define GUIDANCE_V_MODE_HOVER     4
#define GUIDANCE_V_MODE_NAV       5
#define GUIDANCE_V_MODE_MODULE    6
#define GUIDANCE_V_MODE_FLIP      7
#define GUIDANCE_V_MODE_GUIDED    8

extern uint8_t guidance_v_mode;

extern int32_t guidance_v_z_sp;

extern int32_t guidance_v_zd_sp;

extern int32_t guidance_v_z_ref;

extern int32_t guidance_v_zd_ref;

extern int32_t guidance_v_zdd_ref;

extern int32_t guidance_v_z_sum_err; 
extern int32_t guidance_v_ff_cmd;    
extern int32_t guidance_v_fb_cmd;    

extern int32_t guidance_v_rc_delta_t;

extern int32_t guidance_v_delta_t;

extern float guidance_v_nominal_throttle;

extern bool guidance_v_adapt_throttle_enabled;

extern int32_t guidance_v_thrust_coeff;

extern int32_t guidance_v_kp; 
extern int32_t guidance_v_kd; 
extern int32_t guidance_v_ki; 

extern void guidance_v_init(void);
extern void guidance_v_read_rc(void);
extern void guidance_v_mode_changed(uint8_t new_mode);
extern void guidance_v_thrust_adapt(bool in_flight);
extern void guidance_v_notify_in_flight(bool in_flight);
extern void guidance_v_run(bool in_flight);
extern void guidance_v_z_enter(void);

extern void guidance_v_set_ref(int32_t pos, int32_t speed, int32_t accel);
// macro for backward compatibility
#define GuidanceVSetRef guidance_v_set_ref

extern void run_hover_loop(bool in_flight);

extern void guidance_v_from_nav(bool in_flight);

extern void guidance_v_guided_enter(void);

extern void guidance_v_guided_run(bool in_flight);

extern bool guidance_v_set_guided_z(float z);

extern bool guidance_v_set_guided_vz(float vz);

extern bool guidance_v_set_guided_th(float th);

#define guidance_v_SetKi(_val) {      \
    guidance_v_ki = _val;       \
    guidance_v_z_sum_err = 0;     \
  }

#endif /* GUIDANCE_V_H */