Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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_H
28 #define GUIDANCE_V_H
29 
30 #include "std.h"
31 
34 
35 #define GUIDANCE_V_MODE_KILL 0
36 #define GUIDANCE_V_MODE_RC_DIRECT 1
37 #define GUIDANCE_V_MODE_RC_CLIMB 2
38 #define GUIDANCE_V_MODE_CLIMB 3
39 #define GUIDANCE_V_MODE_HOVER 4
40 #define GUIDANCE_V_MODE_NAV 5
41 
43 
49 
55 
61 
67 
73 
77 
83 
88 extern float guidance_v_nominal_throttle;
89 
93 
94 
96 
97 extern int32_t guidance_v_kp;
98 extern int32_t guidance_v_kd;
99 extern int32_t guidance_v_ki;
100 
101 extern void guidance_v_init(void);
102 extern void guidance_v_read_rc(void);
103 extern void guidance_v_mode_changed(uint8_t new_mode);
104 extern void guidance_v_notify_in_flight(bool_t in_flight);
105 extern void guidance_v_run(bool_t in_flight);
106 
107 #define guidance_v_SetKi(_val) { \
108  guidance_v_ki = _val; \
109  guidance_v_z_sum_err = 0; \
110  }
111 
112 #endif /* GUIDANCE_V_H */
Adaptation block of the vertical guidance.
int32_t guidance_v_fb_cmd
feed-back command
Definition: guidance_v.c:99
void guidance_v_run(bool_t in_flight)
Definition: guidance_v.c:249
int32_t guidance_v_kd
vertical control D-gain
Definition: guidance_v.c:124
bool_t guidance_v_adapt_throttle_enabled
Use adaptive throttle command estimation.
Definition: guidance_v.c:103
int32_t guidance_v_zdd_ref
vertical acceleration reference in meter/s^2.
Definition: guidance_v.c:121
void guidance_v_read_rc(void)
Definition: guidance_v.c:193
int32_t guidance_v_z_sp
altitude setpoint in meters (input).
Definition: guidance_v.c:117
uint8_t guidance_v_mode
Definition: guidance_v.c:97
void guidance_v_init(void)
Definition: guidance_v.c:171
int32_t guidance_v_zd_sp
vertical speed setpoint in meter/s (input).
Definition: guidance_v.c:118
void guidance_v_mode_changed(uint8_t new_mode)
Definition: guidance_v.c:213
int32_t guidance_v_z_sum_err
accumulator for I-gain
Definition: guidance_v.c:127
signed long int32_t
Definition: types.h:19
float guidance_v_nominal_throttle
nominal throttle for hover.
Definition: guidance_v.c:102
int32_t guidance_v_zd_ref
vertical speed reference in meter/s.
Definition: guidance_v.c:120
unsigned char uint8_t
Definition: types.h:14
int32_t guidance_v_ff_cmd
feed-forward command
Definition: guidance_v.c:98
Reference generation for vertical guidance.
int32_t guidance_v_delta_t
thrust command.
Definition: guidance_v.c:100
int32_t guidance_v_kp
vertical control P-gain
Definition: guidance_v.c:123
int32_t guidance_v_thrust_coeff
Definition: guidance_v.c:129
void guidance_v_notify_in_flight(bool_t in_flight)
Definition: guidance_v.c:242
int32_t guidance_v_ki
vertical control I-gain
Definition: guidance_v.c:125
int32_t guidance_v_z_ref
altitude reference in meters.
Definition: guidance_v.c:119