guidance_hybrid.h File Reference

Guidance controllers (horizontal and vertical) for Hybrid UAV configurations. More...

#include "math/pprz_algebra_int.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/stabilization.h"

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Functions
void	guidance_hybrid_init (void)
	Hybrid Guidance Initialization function. More...
struct StabilizationSetpoint	guidance_hybrid_run (void)
	Runs the Hybrid Guidance main functions. More...
struct StabilizationSetpoint	guidance_hybrid_h_run_pos (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_hybrid_h_run_speed (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_hybrid_h_run_accel (bool in_flight, struct HorizontalGuidance *gh)
int32_t	guidance_hybrid_v_run_pos (bool in_flight, struct VerticalGuidance *gv)
int32_t	guidance_hybrid_v_run_speed (bool in_flight, struct VerticalGuidance *gv)
int32_t	guidance_hybrid_v_run_accel (bool in_flight, struct VerticalGuidance *gv)
struct StabilizationSetpoint	guidance_hybrid_set_cmd_i (struct Int32Eulers *sp_cmd)
	Creates the attitude set-points from an orientation vector. More...
void	guidance_hybrid_airspeed_to_attitude (struct Int32Eulers *ypr_sp)
	Convert a required airspeed to a certain attitude for the Hybrid. More...
void	guidance_hybrid_groundspeed_to_airspeed (void)
	Description. More...
void	guidance_hybrid_determine_wind_estimate (void)
	Description. More...
void	guidance_hybrid_reset_heading (struct Int32Eulers *sp_cmd)
	Description. More...
int32_t	guidance_hybrid_vertical (int32_t delta_t)
	Description. More...

Variables
int32_t	guidance_hybrid_norm_ref_airspeed
int32_t	max_airspeed
int32_t	wind_gain
int32_t	horizontal_speed_gain
float	max_turn_bank
float	turn_bank_gain
int32_t	cruise_throttle
int32_t	fwd_speed_p_gain
float	fwd_alt_thrust_gain
float	fwd_pid_div
float	fwd_nominal_pitch
float	fwd_pitch_gain
int32_t	hover_p_gain
bool	force_forward_flight

Detailed Description

Guidance controllers (horizontal and vertical) for Hybrid UAV configurations.

Definition in file guidance_hybrid.h.

Function Documentation

guidance_hybrid_airspeed_to_attitude()

void guidance_hybrid_airspeed_to_attitude

(

struct Int32Eulers *

ypr_sp

)

Convert a required airspeed to a certain attitude for the Hybrid.

Parameters

ypr_sp

Attitude set-point

Convert a required airspeed to a certain attitude for the Hybrid.

if required speed is lower than 4 m/s act like a rotorcraft

if required speed is higher than 4 m/s act like a fixedwing

Definition at line 213 of file guidance_hybrid.c.

References AIRSPEED_FORWARD, AIRSPEED_HOVER, airspeed_sp_heading_disp, ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, FLOAT_ANGLE_NORMALIZE, FLOAT_OF_BFP, fwd_nominal_pitch, guidance_hybrid_airspeed_sp, guidance_hybrid_norm_ref_airspeed, guidance_hybrid_norm_ref_airspeed_f, guidance_hybrid_ref_airspeed, heading_diff_disp, high_res_psi, hover_p_gain, INT32_ANGLE_FRAC, INT32_ANGLE_HIGH_RES_FRAC, INT32_ANGLE_HIGH_RES_NORMALIZE, INT32_ANGLE_PI, INT32_POS_FRAC, INT32_TRIG_FRAC, int32_vect2_norm(), max_turn_bank, norm_sp_airspeed_disp, omega_disp, Int32Eulers::phi, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Eulers::theta, turn_bank_gain, v_control_pitch, Int32Vect2::x, and Int32Vect2::y.

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guidance_hybrid_determine_wind_estimate()

void guidance_hybrid_determine_wind_estimate

(

void

)

Description.

Definition at line 392 of file guidance_hybrid.c.

References guidance_hybrid_ref_airspeed, INT32_VECT2_RSHIFT, stateGetSpeedNed_i(), VECT2_DIFF, wind_estimate, wind_estimate_high_res, wind_gain, Int32Vect2::x, and Int32Vect2::y.

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guidance_hybrid_groundspeed_to_airspeed()

void guidance_hybrid_groundspeed_to_airspeed

(

void

)

Description.

Definition at line 331 of file guidance_hybrid.c.

References force_forward_flight, guidance_hybrid_airspeed_sp, guidance_hybrid_groundspeed_sp, guidance_hybrid_ypr_sp, INT32_TRIG_FRAC, int32_vect2_norm(), INT_MULT_RSHIFT, INT_VECT2_ZERO, max_airspeed, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, VECT2_ADD, wind_estimate, Int32Vect2::x, and Int32Vect2::y.

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guidance_hybrid_h_run_accel()

struct StabilizationSetpoint guidance_hybrid_h_run_accel	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

guidance_hybrid_h_run_pos()

struct StabilizationSetpoint guidance_hybrid_h_run_pos	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

Definition at line 123 of file guidance_hybrid.c.

guidance_hybrid_h_run_speed()

struct StabilizationSetpoint guidance_hybrid_h_run_speed	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

Definition at line 123 of file guidance_hybrid.c.

guidance_hybrid_init()

void guidance_hybrid_init

(

void

)

Hybrid Guidance Initialization function.

Parameters

Definition at line 123 of file guidance_hybrid.c.

guidance_hybrid_reset_heading()

void guidance_hybrid_reset_heading

(

struct Int32Eulers *

sp_cmd

)

Description.

Parameters

sp_cmd

Add Description

Definition at line 205 of file guidance_hybrid.c.

References guidance_hybrid_ypr_sp, high_res_psi, INT32_ANGLE_FRAC, INT32_ANGLE_HIGH_RES_FRAC, Int32Eulers::psi, and stabilization_attitude_set_rpy_setpoint_i().

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guidance_hybrid_run()

struct StabilizationSetpoint guidance_hybrid_run

(

void

)

Runs the Hybrid Guidance main functions.

Definition at line 123 of file guidance_hybrid.c.

guidance_hybrid_set_cmd_i()

struct StabilizationSetpoint guidance_hybrid_set_cmd_i

(

struct Int32Eulers *

sp_cmd

)

Creates the attitude set-points from an orientation vector.

Parameters

sp_cmd

The orientation vector

Todo:

calc sp_quat in fixed-point

Definition at line 392 of file guidance_hybrid.c.

guidance_hybrid_v_run_accel()

int32_t guidance_hybrid_v_run_accel	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

Definition at line 198 of file guidance_hybrid.c.

References guidance_hybrid_vertical(), and guidance_pid_v_run_accel().

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guidance_hybrid_v_run_pos()

int32_t guidance_hybrid_v_run_pos	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

Definition at line 186 of file guidance_hybrid.c.

References guidance_hybrid_vertical(), and guidance_pid_v_run_pos().

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guidance_hybrid_v_run_speed()

int32_t guidance_hybrid_v_run_speed	(	bool	in_flight,
		struct VerticalGuidance *	gv
	)

Definition at line 192 of file guidance_hybrid.c.

References guidance_hybrid_vertical(), and guidance_pid_v_run_speed().

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guidance_hybrid_vertical()

int32_t guidance_hybrid_vertical

(

int32_t

delta_t

)

Description.

Change thurst command from standard hover loop to hybrid thrust command

Parameters

delta_t

original thurst command

Returns

modified thrust command

Description.

Definition at line 443 of file guidance_hybrid.c.

References AIRSPEED_FORWARD, AIRSPEED_HOVER, ANGLE_BFP_OF_REAL, cruise_throttle, fwd_alt_thrust_gain, fwd_pid_div, fwd_pitch_gain, fwd_speed_p_gain, guidance_hybrid_norm_ref_airspeed_f, guidance_pid, guidance_v, GuidancePID::kd, GuidancePID::ki, GuidancePID::kp, MAX_PPRZ, VerticalGuidance::nominal_throttle, and v_control_pitch.

Referenced by guidance_hybrid_v_run_accel(), guidance_hybrid_v_run_pos(), and guidance_hybrid_v_run_speed().

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Variable Documentation

cruise_throttle

int32_t cruise_throttle

extern

Definition at line 72 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

force_forward_flight

bool force_forward_flight

extern

Definition at line 96 of file guidance_hybrid.c.

Referenced by guidance_hybrid_groundspeed_to_airspeed(), and guidance_hybrid_h_run_accel().

fwd_alt_thrust_gain

float fwd_alt_thrust_gain

extern

Definition at line 74 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

fwd_nominal_pitch

float fwd_nominal_pitch

extern

Definition at line 76 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude().

fwd_pid_div

float fwd_pid_div

extern

Definition at line 75 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

fwd_pitch_gain

float fwd_pitch_gain

extern

Definition at line 77 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

fwd_speed_p_gain

int32_t fwd_speed_p_gain

extern

Definition at line 73 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

guidance_hybrid_norm_ref_airspeed

int32_t guidance_hybrid_norm_ref_airspeed

extern

Definition at line 54 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), guidance_hybrid_h_run_accel(), and send_hybrid_guidance().

horizontal_speed_gain

int32_t horizontal_speed_gain

extern

Definition at line 58 of file guidance_hybrid.c.

Referenced by guidance_hybrid_h_run_accel().

hover_p_gain

int32_t hover_p_gain

extern

Definition at line 78 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude().

max_airspeed

int32_t max_airspeed

extern

Definition at line 56 of file guidance_hybrid.c.

Referenced by guidance_hybrid_groundspeed_to_airspeed().

max_turn_bank

float max_turn_bank

extern

Definition at line 59 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_h_run_accel().

turn_bank_gain

float turn_bank_gain

extern

Definition at line 60 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_h_run_accel().

wind_gain

int32_t wind_gain

extern

Definition at line 57 of file guidance_hybrid.c.

Referenced by guidance_hybrid_determine_wind_estimate(), and guidance_hybrid_h_run_accel().