Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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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 "generated/airframe.h"
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Go to the source code of this file.

Macros

#define GUIDANCE_H_REF_MAX_SPEED   5.
 Default speed saturation. More...
 
#define GUIDANCE_H_REF_MAX_ACCEL   5.66
 Accel saturation. More...
 
#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)
 
float gh_set_max_speed (float max_speed)
 Set a new maximum speed for waypoint navigation. More...
 

Variables

float gh_max_speed
 Current maximum speed for waypoint navigation. More...
 
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 55 of file guidance_h_ref.h.

#define GH_FREQ_FRAC   9

Update frequency.

Definition at line 54 of file guidance_h_ref.h.

#define GH_POS_REF_FRAC   (GH_SPEED_REF_FRAC + GH_FREQ_FRAC)
#define GUIDANCE_H_REF_MAX_ACCEL   5.66

Accel saturation.

tanf(RadOfDeg(30.))*9.81 = 5.66

Definition at line 49 of file guidance_h_ref.h.

#define GUIDANCE_H_REF_MAX_SPEED   5.

Default speed saturation.

Definition at line 37 of file guidance_h_ref.h.

Referenced by read_rc_setpoint_speed_i().

Function Documentation

float gh_set_max_speed ( float  max_speed)

Set a new maximum speed for waypoint navigation.

Parameters
max_speedspeed saturation in m/s
Returns
new maximum speed

Definition at line 96 of file guidance_h_ref.c.

References BFP_OF_REAL, gh_max_speed, gh_max_speed_int, GH_MAX_SPEED_REF_FRAC, and Min.

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)

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_saturate_ref_accel(), gh_saturate_ref_speed(), gh_set_ref(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), and guidance_h_update_reference().

float gh_max_speed

Current maximum speed for waypoint navigation.

Defaults to GUIDANCE_H_REF_MAX_SPEED

Definition at line 53 of file guidance_h_ref.c.

Referenced by gh_set_max_speed().

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_saturate_ref_speed(), gh_set_ref(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), and guidance_h_update_reference().