Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_indi.c File Reference
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Macros

#define GUIDANCE_INDI_ACCEL_SP_ID   ABI_BROADCAST
 
#define GUIDANCE_INDI_FILTER_CUTOFF   3.0
 

Functions

static void accel_sp_cb (uint8_t sender_id, uint8_t flag, struct FloatVect3 *accel_sp)
 ABI callback that obtains the acceleration setpoint from telemetry flag: 0 -> 2D, 1 -> 3D. More...
 
static void guidance_indi_propagate_filters (struct FloatEulers *eulers)
 Low pass the accelerometer measurements to remove noise from vibrations. More...
 
static void guidance_indi_calcG (struct FloatMat33 *Gmat)
 
static void guidance_indi_calcG_yxz (struct FloatMat33 *Gmat, struct FloatEulers *euler_yxz)
 
static void send_indi_guidance (struct transport_tx *trans, struct link_device *dev)
 
void guidance_indi_init (void)
 Init function. More...
 
void guidance_indi_enter (void)
 Call upon entering indi guidance. More...
 
void guidance_indi_run (float *heading_sp)
 

Variables

float guidance_indi_pos_gain = 0.5
 
float guidance_indi_speed_gain = 1.8
 
abi_event accel_sp_ev
 
struct FloatVect3 indi_accel_sp = {0.0, 0.0, 0.0}
 
bool indi_accel_sp_set_2d = false
 
bool indi_accel_sp_set_3d = false
 
struct FloatVect3 speed_sp = {0.0, 0.0, 0.0}
 
struct FloatVect3 sp_accel = {0.0, 0.0, 0.0}
 
float thrust_act = 0
 
Butterworth2LowPass filt_accel_ned [3]
 
Butterworth2LowPass roll_filt
 
Butterworth2LowPass pitch_filt
 
Butterworth2LowPass thrust_filt
 
struct FloatMat33 Ga
 
struct FloatMat33 Ga_inv
 
struct FloatVect3 control_increment
 
float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF
 
float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK
 
float time_of_accel_sp_2d = 0.0
 
float time_of_accel_sp_3d = 0.0
 
struct FloatEulers guidance_euler_cmd
 
float thrust_in
 

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion

Based on the papers: Cascaded Incremental Nonlinear Dynamic Inversion Control for MAV Disturbance Rejection https://www.researchgate.net/publication/312907985_Cascaded_Incremental_Nonlinear_Dynamic_Inversion_Control_for_MAV_Disturbance_Rejection

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion https://www.researchgate.net/publication/309212603_Gust_Disturbance_Alleviation_with_Incremental_Nonlinear_Dynamic_Inversion

Definition in file guidance_indi.c.

Macro Definition Documentation

◆ GUIDANCE_INDI_ACCEL_SP_ID

#define GUIDANCE_INDI_ACCEL_SP_ID   ABI_BROADCAST

Definition at line 68 of file guidance_indi.c.

◆ GUIDANCE_INDI_FILTER_CUTOFF

#define GUIDANCE_INDI_FILTER_CUTOFF   3.0

Definition at line 96 of file guidance_indi.c.

Function Documentation

◆ accel_sp_cb()

static void accel_sp_cb ( uint8_t  sender_id,
uint8_t  flag,
struct FloatVect3 accel_sp 
)
static

ABI callback that obtains the acceleration setpoint from telemetry flag: 0 -> 2D, 1 -> 3D.

Definition at line 388 of file guidance_indi.c.

References get_sys_time_float(), indi_accel_sp, indi_accel_sp_set_2d, indi_accel_sp_set_3d, time_of_accel_sp_2d, time_of_accel_sp_3d, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

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◆ guidance_indi_calcG()

UNUSED void guidance_indi_calcG ( struct FloatMat33 Gmat)
static
Parameters
Gmatarray to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the roll, pitch and thrust. w.r.t. the NED accelerations for ZYX eulers ddx = G*[dtheta,dphi,dT]

Definition at line 359 of file guidance_indi.c.

References FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, stateGetNedToBodyEulers_f(), mesonh.mesonh_atmosphere::T, and FloatEulers::theta.

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◆ guidance_indi_calcG_yxz()

void guidance_indi_calcG_yxz ( struct FloatMat33 Gmat,
struct FloatEulers euler_yxz 
)
static
Parameters
Gmatarray to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the pitch, roll and thrust. w.r.t. the NED accelerations for YXZ eulers ddx = G*[dtheta,dphi,dT]

Definition at line 331 of file guidance_indi.c.

References FloatEulers::phi, RMAT_ELMT, mesonh.mesonh_atmosphere::T, and FloatEulers::theta.

Referenced by guidance_indi_run().

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◆ guidance_indi_enter()

void guidance_indi_enter ( void  )

Call upon entering indi guidance.

Definition at line 159 of file guidance_indi.c.

Referenced by guidance_h_mode_changed().

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◆ guidance_indi_init()

void guidance_indi_init ( void  )

Init function.

Definition at line 146 of file guidance_indi.c.

◆ guidance_indi_propagate_filters()

void guidance_indi_propagate_filters ( struct FloatEulers eulers)
static

Low pass the accelerometer measurements to remove noise from vibrations.

The roll and pitch also need to be filtered to synchronize them with the acceleration

Definition at line 313 of file guidance_indi.c.

References filt_accel_ned, FloatEulers::phi, pitch_filt, roll_filt, stateGetAccelNed_f(), FloatEulers::theta, update_butterworth_2_low_pass(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by guidance_indi_run().

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◆ guidance_indi_run()

void guidance_indi_run ( float *  heading_sp)
Parameters
heading_spthe desired heading [rad]

main indi guidance function

Definition at line 179 of file guidance_indi.c.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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◆ send_indi_guidance()

static void send_indi_guidance ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 125 of file guidance_indi.c.

References control_increment, dev, filt_accel_ned, SecondOrderLowPass::o, sp_accel, speed_sp, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

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Variable Documentation

◆ accel_sp_ev

abi_event accel_sp_ev

Definition at line 70 of file guidance_indi.c.

Referenced by guidance_indi_init().

◆ control_increment

struct FloatVect3 control_increment

Definition at line 108 of file guidance_indi.c.

Referenced by guidance_indi_run(), and send_indi_guidance().

◆ filt_accel_ned

◆ filter_cutoff

float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF

Definition at line 110 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ Ga

struct FloatMat33 Ga

Definition at line 106 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ Ga_inv

struct FloatMat33 Ga_inv

Definition at line 107 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ guidance_euler_cmd

struct FloatEulers guidance_euler_cmd

Definition at line 116 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ guidance_indi_max_bank

float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK

Definition at line 111 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ guidance_indi_pos_gain

float guidance_indi_pos_gain = 0.5

Definition at line 58 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ guidance_indi_speed_gain

float guidance_indi_speed_gain = 1.8

Definition at line 64 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ indi_accel_sp

struct FloatVect3 indi_accel_sp = {0.0, 0.0, 0.0}

Definition at line 72 of file guidance_indi.c.

Referenced by accel_sp_cb(), and guidance_indi_run().

◆ indi_accel_sp_set_2d

bool indi_accel_sp_set_2d = false

Definition at line 73 of file guidance_indi.c.

Referenced by accel_sp_cb(), and guidance_indi_run().

◆ indi_accel_sp_set_3d

bool indi_accel_sp_set_3d = false

Definition at line 74 of file guidance_indi.c.

Referenced by accel_sp_cb(), and guidance_indi_run().

◆ pitch_filt

◆ roll_filt

◆ sp_accel

struct FloatVect3 sp_accel = {0.0, 0.0, 0.0}

Definition at line 77 of file guidance_indi.c.

Referenced by guidance_indi_run(), and send_indi_guidance().

◆ speed_sp

◆ thrust_act

float thrust_act = 0

Definition at line 100 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ thrust_filt

Butterworth2LowPass thrust_filt

Definition at line 104 of file guidance_indi.c.

Referenced by guidance_indi_enter(), and guidance_indi_run().

◆ thrust_in

float thrust_in

Definition at line 117 of file guidance_indi.c.

Referenced by guidance_indi_enter(), and guidance_indi_run().

◆ time_of_accel_sp_2d

float time_of_accel_sp_2d = 0.0

Definition at line 113 of file guidance_indi.c.

Referenced by accel_sp_cb(), and guidance_indi_run().

◆ time_of_accel_sp_3d

float time_of_accel_sp_3d = 0.0

Definition at line 114 of file guidance_indi.c.

Referenced by accel_sp_cb(), and guidance_indi_run().