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Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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A guidance mode based on Incremental Nonlinear Dynamic Inversion. More...
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/stabilization.h"
Go to the source code of this file.
Enumerations | |
enum | GuidanceIndi_HMode { GUIDANCE_INDI_H_POS , GUIDANCE_INDI_H_SPEED , GUIDANCE_INDI_H_ACCEL } |
enum | GuidanceIndi_VMode { GUIDANCE_INDI_V_POS , GUIDANCE_INDI_V_SPEED , GUIDANCE_INDI_V_ACCEL } |
Functions | |
void | guidance_indi_init (void) |
Init function. | |
void | guidance_indi_enter (void) |
Call upon entering indi guidance. | |
struct StabilizationSetpoint | guidance_indi_run (struct FloatVect3 *accep_sp, float heading_sp) |
struct StabilizationSetpoint | guidance_indi_run_mode (bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndi_HMode h_mode, enum GuidanceIndi_VMode v_mode) |
Variables | |
float | guidance_indi_specific_force_gain |
float | guidance_indi_pos_gain |
float | guidance_indi_speed_gain |
float | guidance_indi_max_bank |
struct FloatVect3 | sp_accel |
A guidance mode based on Incremental Nonlinear Dynamic Inversion.
Definition in file guidance_indi.h.
Enumerator | |
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GUIDANCE_INDI_H_POS | |
GUIDANCE_INDI_H_SPEED | |
GUIDANCE_INDI_H_ACCEL |
Definition at line 40 of file guidance_indi.h.
Enumerator | |
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GUIDANCE_INDI_V_POS | |
GUIDANCE_INDI_V_SPEED | |
GUIDANCE_INDI_V_ACCEL |
Definition at line 46 of file guidance_indi.h.
Call upon entering indi guidance.
Definition at line 168 of file guidance_indi.c.
Init function.
Definition at line 153 of file guidance_indi.c.
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accel_sp | accel setpoint in NED frame [m/s^2] |
heading_sp | the desired heading [rad] |
main indi guidance function
Definition at line 201 of file guidance_indi.c.
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Definition at line 314 of file guidance_indi.c.
References ACCEL_FLOAT_OF_BFP, foo, GUIDANCE_INDI_H_ACCEL, GUIDANCE_INDI_H_SPEED, guidance_indi_pos_gain, guidance_indi_run(), guidance_indi_speed_gain, GUIDANCE_INDI_V_ACCEL, GUIDANCE_INDI_V_SPEED, POS_FLOAT_OF_BFP, SPEED_FLOAT_OF_BFP, speed_sp, stateGetPositionNed_f(), stateGetSpeedNed_f(), FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.
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Definition at line 117 of file guidance_indi.c.
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Definition at line 54 of file guidance_indi.c.
Referenced by guidance_indi_run_mode().
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Referenced by ctrl_eff_scheduling_periodic(), and guidance_indi_run().
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Definition at line 60 of file guidance_indi.c.
Referenced by guidance_indi_run(), and guidance_indi_run_mode().
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Definition at line 74 of file guidance_indi.c.