Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_indi.h File Reference
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
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Functions

void guidance_indi_enter (void)
 Call upon entering indi guidance. More...
 
void guidance_indi_run (float *heading_sp)
 
void stabilization_attitude_set_setpoint_rp_quat_f (struct FloatEulers *indi_rp_cmd, bool in_flight, float heading)
 
void guidance_indi_init (void)
 Init function. More...
 

Variables

float guidance_indi_specific_force_gain
 
float guidance_indi_pos_gain
 
float guidance_indi_speed_gain
 
float guidance_indi_max_bank
 

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion

Definition in file guidance_indi.h.

Function Documentation

◆ guidance_indi_enter()

void guidance_indi_enter ( void  )

Call upon entering indi guidance.

Definition at line 159 of file guidance_indi.c.

◆ guidance_indi_init()

void guidance_indi_init ( void  )

Init function.

Definition at line 146 of file guidance_indi.c.

◆ 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.

◆ stabilization_attitude_set_setpoint_rp_quat_f()

void stabilization_attitude_set_setpoint_rp_quat_f ( struct FloatEulers indi_rp_cmd,
bool  in_flight,
float  heading 
)

Variable Documentation

◆ guidance_indi_max_bank

float guidance_indi_max_bank

Definition at line 111 of file guidance_indi.c.

◆ guidance_indi_pos_gain

float guidance_indi_pos_gain

Definition at line 58 of file guidance_indi.c.

Referenced by guidance_indi_run().

◆ guidance_indi_specific_force_gain

float guidance_indi_specific_force_gain

◆ guidance_indi_speed_gain

float guidance_indi_speed_gain

Definition at line 64 of file guidance_indi.c.

Referenced by guidance_indi_run().