Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_h_ref.c File Reference
#include "firmwares/rotorcraft/guidance/guidance_h_ref.h"
#include "generated/airframe.h"
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Go to the source code of this file.

Macros

#define GUIDANCE_H_REF_OMEGA   RadOfDeg(67.)
 default second order model natural frequency More...
 
#define GUIDANCE_H_REF_ZETA   0.85f
 default second order model damping More...
 
#define GUIDANCE_H_REF_TAU   0.5f
 first order time constant More...
 

Functions

static void gh_saturate_speed (struct FloatVect2 *speed_sp)
 
static void gh_saturate_accel (struct FloatVect2 *accel_sp)
 
void gh_ref_init (void)
 
float gh_set_max_speed (float max_speed)
 Set a new maximum speed for waypoint navigation. More...
 
float gh_set_tau (float tau)
 
float gh_set_omega (float omega)
 
float gh_set_zeta (float zeta)
 
void gh_set_ref (struct Int32Vect2 pos, struct FloatVect2 speed, struct FloatVect2 accel)
 
void gh_update_ref_from_pos_sp (struct Int32Vect2 pos_sp)
 
void gh_update_ref_from_speed_sp (struct FloatVect2 speed_sp)
 

Variables

struct GuidanceHRef gh_ref
 
static const float gh_max_accel = GUIDANCE_H_REF_MAX_ACCEL
 

Detailed Description

Reference generation for horizontal guidance.

Definition in file guidance_h_ref.c.

Macro Definition Documentation

◆ GUIDANCE_H_REF_OMEGA

#define GUIDANCE_H_REF_OMEGA   RadOfDeg(67.)

default second order model natural frequency

Definition at line 36 of file guidance_h_ref.c.

◆ GUIDANCE_H_REF_TAU

#define GUIDANCE_H_REF_TAU   0.5f

first order time constant

Definition at line 45 of file guidance_h_ref.c.

◆ GUIDANCE_H_REF_ZETA

#define GUIDANCE_H_REF_ZETA   0.85f

default second order model damping

Definition at line 40 of file guidance_h_ref.c.

Function Documentation

◆ gh_ref_init()

void gh_ref_init ( void  )

Definition at line 51 of file guidance_h_ref.c.

References GuidanceHRef::dt, gh_ref, gh_set_max_speed(), gh_set_tau(), GUIDANCE_H_REF_MAX_SPEED, GUIDANCE_H_REF_OMEGA, GUIDANCE_H_REF_TAU, GUIDANCE_H_REF_ZETA, GuidanceHRef::omega, GuidanceHRef::omega_2, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_init().

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◆ gh_saturate_accel()

static void gh_saturate_accel ( struct FloatVect2 accel_sp)
static

Definition at line 183 of file guidance_h_ref.c.

References gh_max_accel, VECT2_NORM2, and VECT2_SMUL.

Referenced by gh_update_ref_from_pos_sp(), and gh_update_ref_from_speed_sp().

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◆ gh_saturate_speed()

static void gh_saturate_speed ( struct FloatVect2 speed_sp)
static

Definition at line 170 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::max_speed, speed_sp, VECT2_NORM2, and VECT2_SMUL.

Referenced by gh_update_ref_from_pos_sp().

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◆ gh_set_max_speed()

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 63 of file guidance_h_ref.c.

References f, gh_ref, GuidanceHRef::max_speed, and Min.

Referenced by gh_ref_init(), and guidance_h_SetMaxSpeed().

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◆ gh_set_omega()

float gh_set_omega ( float  omega)

Definition at line 78 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::omega, GuidanceHRef::omega_2, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_SetOmega().

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◆ gh_set_ref()

void gh_set_ref ( struct Int32Vect2  pos,
struct FloatVect2  speed,
struct FloatVect2  accel 
)

◆ gh_set_tau()

float gh_set_tau ( float  tau)

Definition at line 70 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::inv_tau, and GuidanceHRef::tau.

Referenced by gh_ref_init(), and guidance_h_SetTau().

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◆ gh_set_zeta()

float gh_set_zeta ( float  zeta)

Definition at line 87 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::omega, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_SetZeta().

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◆ gh_update_ref_from_pos_sp()

◆ gh_update_ref_from_speed_sp()

void gh_update_ref_from_speed_sp ( struct FloatVect2  speed_sp)

Variable Documentation

◆ gh_max_accel

const float gh_max_accel = GUIDANCE_H_REF_MAX_ACCEL
static

Definition at line 32 of file guidance_h_ref.c.

Referenced by gh_saturate_accel().

◆ gh_ref