Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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energy_ctrl.h
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1/*
2 * Copyright (C) 2012 TUDelft, Tobias Muench
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
28#ifndef FW_V_CTL_ENERGY_H
29#define FW_V_CTL_ENERGY_H
30
32
33//To be unified with control NEW, these can be used in a unified flightplan
34//but ETECS has no use of it ofcourse, speed mode always V_CTL_SPEED_AIRSPEED
35//FIXME An idea to move it to guidance_common
36#define V_CTL_SPEED_THROTTLE 0
37#define V_CTL_SPEED_AIRSPEED 1
38#define V_CTL_SPEED_GROUNDSPEED 2
39
41
42/* outer loop */
43// extern float v_ctl_altitude_error; ///< in meters, (setpoint - alt) -> positive = too low
44extern float v_ctl_altitude_setpoint;
45extern float v_ctl_altitude_pre_climb;
46extern float v_ctl_altitude_pgain;
47extern float v_ctl_airspeed_pgain;
48
50
51extern float v_ctl_max_climb;
52extern float v_ctl_max_acceleration;
53
54/* "auto throttle" inner loop parameters */
56
61
67
68extern float v_ctl_energy_total_pgain;
69extern float v_ctl_energy_total_igain;
70
71extern float v_ctl_energy_diff_pgain;
72extern float v_ctl_energy_diff_igain;
73
77
79// Automatically found airplane characteristics
80
81extern float ac_char_climb_pitch;
82extern float ac_char_climb_max;
83extern float ac_char_descend_pitch;
84extern float ac_char_descend_max;
85extern float ac_char_cruise_throttle;
86extern float ac_char_cruise_pitch;
87
88#endif /* FW_V_CTL_H */
float ac_char_climb_max
float v_ctl_energy_total_pgain
float v_ctl_auto_pitch_of_airspeed_igain
float v_ctl_desired_acceleration
float v_ctl_auto_groundspeed_sum_err
float v_ctl_auto_throttle_climb_throttle_increment
float ac_char_climb_pitch
float v_ctl_auto_throttle_nominal_cruise_pitch
float v_ctl_max_climb
Definition energy_ctrl.c:94
float v_ctl_energy_total_igain
float v_ctl_auto_groundspeed_igain
float v_ctl_auto_pitch_of_airspeed_dgain
float v_ctl_altitude_pgain
Definition energy_ctrl.c:90
float ac_char_cruise_throttle
float ac_char_descend_max
float v_ctl_energy_diff_pgain
float v_ctl_max_acceleration
Definition energy_ctrl.c:95
float v_ctl_altitude_setpoint
in meters above MSL
Definition energy_ctrl.c:88
float ac_char_cruise_pitch
float v_ctl_auto_throttle_nominal_cruise_throttle
float v_ctl_auto_throttle_of_airspeed_igain
uint8_t v_ctl_speed_mode
float v_ctl_airspeed_pgain
Definition energy_ctrl.c:91
float v_ctl_auto_throttle_pitch_of_vz_pgain
float v_ctl_altitude_pre_climb
Path Angle.
Definition energy_ctrl.c:89
float v_ctl_auto_airspeed_setpoint
in meters per second
float v_ctl_auto_pitch_of_airspeed_pgain
float v_ctl_auto_groundspeed_pgain
float ac_char_descend_pitch
float v_ctl_auto_throttle_of_airspeed_pgain
float v_ctl_energy_diff_igain
Vertical control for fixed wing vehicles.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.