guidance_indi_hybrid.h

Go to the documentation of this file.

/*
 * Copyright (C) 2015 Ewoud Smeur <ewoud.smeur@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_INDI_HYBRID_H
#define GUIDANCE_INDI_HYBRID_H
 
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "filters/high_pass_filter.h"
 
extern void guidance_indi_enter(void);
extern void guidance_indi_run(float *heading_sp);
extern void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* indi_rp_cmd, bool in_flight, int32_t heading);
extern void guidance_indi_init(void);
 
struct guidance_indi_hybrid_params {
  float pos_gain;
  float pos_gainz;
  float speed_gain;
  float speed_gainz;
  float heading_bank_gain;
  float liftd_asq;
  float liftd_p80;
  float liftd_p50;
};
 
extern struct FloatVect3 sp_accel;
extern struct FloatVect3 gi_speed_sp;
 
extern struct guidance_indi_hybrid_params gih_params;
extern float guidance_indi_specific_force_gain;
extern float guidance_indi_max_airspeed;
extern float nav_max_speed;
extern bool take_heading_control;
extern float guidance_indi_max_bank;
 
#endif /* GUIDANCE_INDI_HYBRID_H */