A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to IROS2016 to learn more! More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "modules/radio_control/radio_control.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "state.h"
#include "mcu_periph/sys_time.h"
#include "autopilot.h"
#include "stdio.h"
#include "filters/low_pass_filter.h"
#include "modules/core/abi.h"
#include "firmwares/rotorcraft/navigation.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for guidance_indi_hybrid.c:

Go to the source code of this file.

Macros
#define	GUIDANCE_INDI_SPEED_GAIN 1.8

#define	GUIDANCE_INDI_SPEED_GAINZ 1.8

#define	GUIDANCE_INDI_POS_GAIN 0.5

#define	GUIDANCE_INDI_POS_GAINZ 0.5

#define	GUIDANCE_INDI_LIFTD_ASQ 0.20

#define	GUIDANCE_INDI_MAX_PUSHER_INCREMENT MAX_PPRZ

#define	GUIDANCE_INDI_LIFTD_P80 (GUIDANCE_INDI_LIFTD_ASQ1212)

#define	GUIDANCE_INDI_LIFTD_P50 (GUIDANCE_INDI_LIFTD_P80/2)

#define	GUIDANCE_INDI_MIN_AIRSPEED -10.f

#define	GUIDANCE_INDI_FWD_CLIMB_SPEED 4.0
	Climb speed when navigation is making turns instead of direct lines.

#define	GUIDANCE_INDI_FWD_DESCEND_SPEED -4.0
	Descend speed when navigation is making turns instead of direct lines.

#define	GUIDANCE_INDI_QUAD_CLIMB_SPEED 2.0
	Climb speed when navigation is doing direct lines.

#define	GUIDANCE_INDI_QUAD_DESCEND_SPEED -2.0
	Descend speed when navigation is doing direct lines.

#define	GUIDANCE_INDI_ZERO_AIRSPEED FALSE

#define	TURN_AIRSPEED_TH 13.0

#define	GUIDANCE_INDI_FILTER_CUTOFF 3.0

#define	GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF 0.5

#define	GUIDANCE_INDI_MAX_LAT_ACCEL 9.81

#define	GUIDANCE_INDI_COORDINATED_TURN_MIN_AIRSPEED 10.0

#define	GUIDANCE_INDI_COORDINATED_TURN_MAX_AIRSPEED 30.0

#define	GUIDANCE_INDI_COORDINATED_TURN_AIRSPEED_MARGIN 0.0

#define	GUIDANCE_INDI_VEL_SP_ID ABI_BROADCAST

Functions
static void	vel_sp_cb (uint8_t sender_id, struct FloatVect3 *vel_sp)
	ABI callback that obtains the velocity setpoint from a module.

void	guidance_indi_propagate_filters (void)
	Low pass the accelerometer measurements to remove noise from vibrations.

static void	send_eff_mat_guid_indi_hybrid (struct transport_tx trans, struct link_device dev)

static void	send_guidance_indi_hybrid (struct transport_tx trans, struct link_device dev)

void	guidance_indi_init (void)
	Init function.

void	guidance_indi_enter (void)
	Call upon entering indi guidance.

void	guidance_set_min_max_airspeed (float min_airspeed, float max_airspeed)

struct StabilizationSetpoint	guidance_indi_run (struct FloatVect3 *accel_sp, float heading_sp)

static struct FloatVect3	compute_accel_from_speed_sp (void)

static float	bound_vz_sp (float vz_sp)

struct StabilizationSetpoint	guidance_indi_run_mode (bool in_flight UNUSED, struct HorizontalGuidance gh, struct VerticalGuidance gv, enum GuidanceIndiHybrid_HMode h_mode, enum GuidanceIndiHybrid_VMode v_mode)

float WEAK	guidance_indi_get_liftd (float airspeed, float theta)
	Get the derivative of lift w.r.t.

Variables
struct guidance_indi_hybrid_params	gih_params

float	guidance_indi_pitch_pref_deg = 0

bool	take_heading_control = false

bool	force_forward = false
	forward flight for hybrid nav

bool	guidance_indi_airspeed_filtering = false

struct FloatVect3	sp_accel = {0.0,0.0,0.0}

float	inv_eff [4]

float	guidance_indi_max_bank = GUIDANCE_H_MAX_BANK

float	guidance_indi_min_pitch = GUIDANCE_INDI_MIN_PITCH

float	gih_coordinated_turn_min_airspeed = GUIDANCE_INDI_COORDINATED_TURN_MIN_AIRSPEED

float	gih_coordinated_turn_max_airspeed = GUIDANCE_INDI_COORDINATED_TURN_MAX_AIRSPEED + GUIDANCE_INDI_COORDINATED_TURN_AIRSPEED_MARGIN

bool	coordinated_turn_use_accel = false

struct FloatEulers	eulers_zxy
	state eulers in zxy order

float	thrust_dyn = 0.f

float	thrust_act = 0.f

Butterworth2LowPass	filt_accel_ned [3]

Butterworth2LowPass	roll_filt

Butterworth2LowPass	pitch_filt

Butterworth2LowPass	thrust_filt

Butterworth2LowPass	accely_filt

Butterworth2LowPass	guidance_indi_airspeed_filt

struct FloatVect2	desired_airspeed

float	gi_unbounded_airspeed_sp = 0.f

float	Ga [GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U]

struct FloatVect3	euler_cmd

float	du_gih [GUIDANCE_INDI_HYBRID_U]

float	v_gih [3]

float	filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF

float	guidance_indi_airspeed_filt_cutoff = GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF

float	guidance_indi_hybrid_heading_sp = 0.f

struct FloatEulers	guidance_euler_cmd

struct ThrustSetpoint	thrust_sp

float	thrust_in

struct FloatVect3	gi_speed_sp = {0.0, 0.0, 0.0}

abi_event	vel_sp_ev

struct FloatVect3	indi_vel_sp = {0.0, 0.0, 0.0}

float	time_of_vel_sp = 0.0

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to IROS2016 to learn more!

Definition in file guidance_indi_hybrid.c.

Macro Definition Documentation

◆ GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF

#define GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF 0.5

Definition at line 196 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_COORDINATED_TURN_AIRSPEED_MARGIN

#define GUIDANCE_INDI_COORDINATED_TURN_AIRSPEED_MARGIN 0.0

Definition at line 212 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_COORDINATED_TURN_MAX_AIRSPEED

#define GUIDANCE_INDI_COORDINATED_TURN_MAX_AIRSPEED 30.0

Definition at line 208 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_COORDINATED_TURN_MIN_AIRSPEED

#define GUIDANCE_INDI_COORDINATED_TURN_MIN_AIRSPEED 10.0

Definition at line 204 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_FILTER_CUTOFF

#define GUIDANCE_INDI_FILTER_CUTOFF 3.0

Definition at line 191 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_FWD_CLIMB_SPEED

#define GUIDANCE_INDI_FWD_CLIMB_SPEED 4.0

Climb speed when navigation is making turns instead of direct lines.

Definition at line 86 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_FWD_DESCEND_SPEED

#define GUIDANCE_INDI_FWD_DESCEND_SPEED -4.0

Descend speed when navigation is making turns instead of direct lines.

Definition at line 93 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_LIFTD_ASQ

#define GUIDANCE_INDI_LIFTD_ASQ 0.20

Definition at line 58 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_LIFTD_P50

#define GUIDANCE_INDI_LIFTD_P50 (GUIDANCE_INDI_LIFTD_P80/2)

Definition at line 71 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_LIFTD_P80

#define GUIDANCE_INDI_LIFTD_P80 (GUIDANCE_INDI_LIFTD_ASQ*12*12)

Definition at line 70 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_MAX_LAT_ACCEL

#define GUIDANCE_INDI_MAX_LAT_ACCEL 9.81

Definition at line 200 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_MAX_PUSHER_INCREMENT

#define GUIDANCE_INDI_MAX_PUSHER_INCREMENT MAX_PPRZ

Definition at line 62 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_MIN_AIRSPEED

#define GUIDANCE_INDI_MIN_AIRSPEED -10.f

Definition at line 79 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_POS_GAIN

#define GUIDANCE_INDI_POS_GAIN 0.5

Definition at line 53 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_POS_GAINZ

#define GUIDANCE_INDI_POS_GAINZ 0.5

Definition at line 54 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_QUAD_CLIMB_SPEED

#define GUIDANCE_INDI_QUAD_CLIMB_SPEED 2.0

Climb speed when navigation is doing direct lines.

Definition at line 100 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_QUAD_DESCEND_SPEED

#define GUIDANCE_INDI_QUAD_DESCEND_SPEED -2.0

Descend speed when navigation is doing direct lines.

Definition at line 107 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_SPEED_GAIN

#define GUIDANCE_INDI_SPEED_GAIN 1.8

Definition at line 48 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_SPEED_GAINZ

#define GUIDANCE_INDI_SPEED_GAINZ 1.8

Definition at line 49 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_VEL_SP_ID

#define GUIDANCE_INDI_VEL_SP_ID ABI_BROADCAST

Definition at line 292 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_ZERO_AIRSPEED

#define GUIDANCE_INDI_ZERO_AIRSPEED FALSE

Definition at line 149 of file guidance_indi_hybrid.c.

◆ TURN_AIRSPEED_TH

#define TURN_AIRSPEED_TH 13.0

Definition at line 154 of file guidance_indi_hybrid.c.

Function Documentation

◆ bound_vz_sp()

static float bound_vz_sp ( float vz_sp )

static

Definition at line 749 of file guidance_indi_hybrid.c.

References guidance_indi_hybrid_params::climb_vspeed_fwd, guidance_indi_hybrid_params::climb_vspeed_quad, guidance_indi_hybrid_params::descend_vspeed_fwd, guidance_indi_hybrid_params::descend_vspeed_quad, foo, gih_params, stateGetAirspeed_f(), and TURN_AIRSPEED_TH.

Referenced by guidance_indi_run_mode().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ compute_accel_from_speed_sp()

static struct FloatVect3 compute_accel_from_speed_sp ( void )

static

Definition at line 623 of file guidance_indi_hybrid.c.

References desired_airspeed, eulers_zxy, FLOAT_ANGLE_NORMALIZE, float_eulers_of_quat_zxy(), FLOAT_VECT2_NORM, float_vect3_bound_in_2d(), foo, force_forward, gi_speed_sp, gi_unbounded_airspeed_sp, gih_params, guidance_indi_airspeed_filt, guidance_indi_airspeed_filtering, GUIDANCE_INDI_MAX_LAT_ACCEL, guidance_indi_hybrid_params::heading_bank_gain, guidance_indi_hybrid_params::max_airspeed, guidance_indi_hybrid_params::min_airspeed, SecondOrderLowPass::o, FloatEulers::psi, rotwing_state_hover_motors_running(), rotwing_state_pusher_motor_running(), guidance_indi_hybrid_params::speed_gain, guidance_indi_hybrid_params::speed_gainz, guidance_indi_hybrid_params::stall_protect_gain, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), stateGetSpeedNed_f(), TURN_AIRSPEED_TH, VECT2_DIFF, FloatVect2::x, FloatVect3::x, NedCoor_f::x, FloatVect2::y, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_indi_run_mode().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ guidance_indi_enter()

void guidance_indi_enter ( void )

Call upon entering indi guidance.

Definition at line 389 of file guidance_indi_hybrid.c.

References accely_filt, Stabilization::cmd, eulers_zxy, filt_accel_ned, filter_cutoff, float_eulers_of_quat_zxy(), foo, guidance_indi_airspeed_filt, guidance_indi_airspeed_filt_cutoff, guidance_indi_hybrid_heading_sp, RotorcraftNavigation::heading, init_butterworth_2_low_pass(), nav, FloatEulers::phi, pitch_filt, FloatEulers::psi, roll_filt, stabilization, stateGetNedToBodyQuat_f(), FloatEulers::theta, thrust_act, thrust_filt, and thrust_in.

Here is the call graph for this function:

◆ guidance_indi_get_liftd()

float WEAK guidance_indi_get_liftd	(	float	airspeed,
		float	theta
	)

Get the derivative of lift w.r.t.

pitch.

Parameters

airspeed The airspeed says most about the flight condition

Returns: The derivative of lift w.r.t. pitch

Definition at line 883 of file guidance_indi_hybrid.c.

References foo, gih_params, guidance_indi_hybrid_params::liftd_asq, guidance_indi_hybrid_params::liftd_p50, and guidance_indi_hybrid_params::liftd_p80.

Referenced by guidance_indi_calcg_wing(), and guidance_indi_calcg_wing().

Here is the caller graph for this function:

◆ guidance_indi_init()

void guidance_indi_init ( void )

Init function.

Definition at line 343 of file guidance_indi_hybrid.c.

References accely_filt, DefaultPeriodic, filt_accel_ned, filter_cutoff, foo, Ga, guidance_indi_airspeed_filt, guidance_indi_airspeed_filt_cutoff, GUIDANCE_INDI_VEL_SP_ID, init_butterworth_2_low_pass(), pitch_filt, register_periodic_telemetry(), roll_filt, send_eff_mat_guid_indi_hybrid(), send_guidance_indi_hybrid(), thrust_dyn, thrust_filt, vel_sp_cb(), and vel_sp_ev.

Here is the call graph for this function:

◆ guidance_indi_propagate_filters()

void guidance_indi_propagate_filters ( void )

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 Called as a periodic function with PERIODIC_FREQ

Definition at line 856 of file guidance_indi_hybrid.c.

References ACCEL_FLOAT_OF_BFP, accely_filt, eulers_zxy, filt_accel_ned, foo, guidance_indi_airspeed_filt, FloatEulers::phi, pitch_filt, roll_filt, stateGetAccelBody_i(), stateGetAccelNed_f(), stateGetAirspeed_f(), FloatEulers::theta, update_butterworth_2_low_pass(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by guidance_indi_run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ guidance_indi_run()

struct StabilizationSetpoint guidance_indi_run	(	struct FloatVect3 *	accel_sp,
		float	heading_sp
	)

Parameters

accel_sp	accel setpoint in NED frame [m/s^2]
heading_sp	the desired heading [rad]

Returns: stabilization setpoint structure

main indi guidance function

Definition at line 426 of file guidance_indi_hybrid.c.

References accely_filt, du_gih, euler_cmd, eulers_zxy, filt_accel_ned, FLOAT_ANGLE_NORMALIZE, float_eulers_of_quat_zxy(), float_mat3_mult(), float_mat_inv_3d(), float_quat_normalize(), float_quat_of_eulers_zxy(), foo, g1g2, Ga, Ga_inv, gih_coordinated_turn_max_airspeed, gih_coordinated_turn_min_airspeed, guidance_euler_cmd, guidance_indi_calcg_wing(), guidance_indi_hybrid_heading_sp, guidance_indi_hybrid_set_wls_settings(), guidance_indi_max_bank, GUIDANCE_INDI_MAX_PITCH, GUIDANCE_INDI_MAX_PUSHER_INCREMENT, guidance_indi_min_pitch, guidance_indi_propagate_filters(), guidance_indi_specific_force_gain, heading, SecondOrderLowPass::o, FloatRates::p, FloatEulers::phi, pitch_filt, FloatEulers::psi, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, roll_filt, sp_accel, stab_sp_from_quat_ff_rates_f(), stabilization, stabilization_attitude_get_heading_f(), stateGetAirspeed_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), take_heading_control, th_sp_from_incr_vect_f(), th_sp_from_thrust_i(), FloatEulers::theta, THRUST_AXIS_Z, thrust_filt, thrust_in, thrust_sp, Stabilization::transition_ratio, v_gih, RadioControl::values, VECT3_DIFF, wls_alloc(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_run_mode().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ guidance_indi_run_mode()

struct StabilizationSetpoint guidance_indi_run_mode	(	bool in_flight	UNUSED,
		struct HorizontalGuidance *	gh,
		struct VerticalGuidance *	gv,
		enum GuidanceIndiHybrid_HMode	h_mode,
		enum GuidanceIndiHybrid_VMode	v_mode
	)

Definition at line 760 of file guidance_indi_hybrid.c.

References ACCEL_FLOAT_OF_BFP, bound_vz_sp(), compute_accel_from_speed_sp(), foo, get_sys_time_float(), gi_speed_sp, gih_params, GUIDANCE_INDI_HYBRID_H_POS, GUIDANCE_INDI_HYBRID_H_SPEED, GUIDANCE_INDI_HYBRID_V_ACCEL, GUIDANCE_INDI_HYBRID_V_POS, GUIDANCE_INDI_HYBRID_V_SPEED, guidance_indi_run(), indi_vel_sp, POS_FLOAT_OF_BFP, guidance_indi_hybrid_params::pos_gain, guidance_indi_hybrid_params::pos_gainz, SPEED_FLOAT_OF_BFP, guidance_indi_hybrid_params::speed_gain, guidance_indi_hybrid_params::speed_gainz, stateGetPositionNed_f(), stateGetSpeedNed_f(), time_of_vel_sp, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

Here is the call graph for this function:

◆ guidance_set_min_max_airspeed()

void guidance_set_min_max_airspeed	(	float	min_airspeed,
		float	max_airspeed
	)

Definition at line 414 of file guidance_indi_hybrid.c.

References gih_params, max_airspeed, guidance_indi_hybrid_params::max_airspeed, and guidance_indi_hybrid_params::min_airspeed.

Referenced by rotwing_state_periodic().

Here is the caller graph for this function:

◆ send_eff_mat_guid_indi_hybrid()

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

static

Definition at line 303 of file guidance_indi_hybrid.c.

References dev, foo, and Ga.

Referenced by guidance_indi_init().

Here is the caller graph for this function:

◆ send_guidance_indi_hybrid()

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

static

Definition at line 310 of file guidance_indi_hybrid.c.

References dev, euler_cmd, filt_accel_ned, foo, gi_speed_sp, SecondOrderLowPass::o, sp_accel, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

Here is the caller graph for this function:

◆ vel_sp_cb()

static void vel_sp_cb	(	uint8_t	sender_id,
		struct FloatVect3 *	vel_sp
	)

static

ABI callback that obtains the velocity setpoint from a module.

Definition at line 915 of file guidance_indi_hybrid.c.

References foo, get_sys_time_float(), indi_vel_sp, time_of_vel_sp, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ accely_filt

Butterworth2LowPass accely_filt

Definition at line 240 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_enter(), guidance_indi_init(), guidance_indi_propagate_filters(), and guidance_indi_run().

◆ coordinated_turn_use_accel

bool coordinated_turn_use_accel = false

Definition at line 229 of file guidance_indi_hybrid.c.

◆ desired_airspeed

struct FloatVect2 desired_airspeed

Definition at line 243 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp().

◆ du_gih

float du_gih[GUIDANCE_INDI_HYBRID_U]

Definition at line 249 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run().

◆ euler_cmd

struct FloatVect3 euler_cmd

Definition at line 247 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run(), and send_guidance_indi_hybrid().

◆ eulers_zxy

struct FloatEulers eulers_zxy

state eulers in zxy order

Definition at line 232 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), guidance_indi_calcg_wing(), guidance_indi_calcg_wing(), guidance_indi_enter(), guidance_indi_hybrid_set_wls_settings(), guidance_indi_propagate_filters(), guidance_indi_run(), schdule_control_effectiveness(), and send_fp().

◆ filt_accel_ned

Butterworth2LowPass filt_accel_ned[3]

Definition at line 236 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_enter(), guidance_indi_init(), guidance_indi_propagate_filters(), guidance_indi_run(), and send_guidance_indi_hybrid().

◆ filter_cutoff

float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF

Definition at line 281 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_enter(), and guidance_indi_init().

◆ force_forward

bool force_forward = false

forward flight for hybrid nav

Definition at line 160 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), and reshape_wind().

◆ Ga

float Ga[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U]

Definition at line 246 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_init(), guidance_indi_run(), and send_eff_mat_guid_indi_hybrid().

◆ gi_speed_sp

struct FloatVect3 gi_speed_sp = {0.0, 0.0, 0.0}

Definition at line 289 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_run_mode(), and send_guidance_indi_hybrid().

◆ gi_unbounded_airspeed_sp

float gi_unbounded_airspeed_sp = 0.f

Definition at line 244 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), rotwing_state_periodic(), and send_rotating_wing_state().

◆ gih_coordinated_turn_max_airspeed

float gih_coordinated_turn_max_airspeed = GUIDANCE_INDI_COORDINATED_TURN_MAX_AIRSPEED + GUIDANCE_INDI_COORDINATED_TURN_AIRSPEED_MARGIN

Definition at line 226 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run().

◆ gih_coordinated_turn_min_airspeed

float gih_coordinated_turn_min_airspeed = GUIDANCE_INDI_COORDINATED_TURN_MIN_AIRSPEED

Definition at line 225 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run().

◆ gih_params

struct guidance_indi_hybrid_params gih_params

Initial value:

= {
  .pos_gain = GUIDANCE_INDI_POS_GAIN,
  .pos_gainz = GUIDANCE_INDI_POS_GAINZ,
 
  .speed_gain = GUIDANCE_INDI_SPEED_GAIN,
  .speed_gainz = GUIDANCE_INDI_SPEED_GAINZ,
 
  .heading_bank_gain = GUIDANCE_INDI_HEADING_BANK_GAIN,
  .liftd_asq = GUIDANCE_INDI_LIFTD_ASQ, 
  .liftd_p80 = GUIDANCE_INDI_LIFTD_P80,
  .liftd_p50 = GUIDANCE_INDI_LIFTD_P50,
  .min_airspeed = GUIDANCE_INDI_MIN_AIRSPEED,
  .max_airspeed = GUIDANCE_INDI_MAX_AIRSPEED,
  .stall_protect_gain = 1.5, 
  .climb_vspeed_fwd = GUIDANCE_INDI_FWD_CLIMB_SPEED,
  .descend_vspeed_fwd = GUIDANCE_INDI_FWD_DESCEND_SPEED,
  .climb_vspeed_quad = GUIDANCE_INDI_QUAD_CLIMB_SPEED,
  .descend_vspeed_quad = GUIDANCE_INDI_QUAD_DESCEND_SPEED,
}