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"

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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_ZERO_AIRSPEED FALSE

#define	TURN_AIRSPEED_TH 10.0

#define	GUIDANCE_INDI_FILTER_CUTOFF 3.0

#define	GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF 0.5

#define	GUIDANCE_INDI_CLIMB_SPEED_FWD 4.0

#define	GUIDANCE_INDI_DESCEND_SPEED_FWD -4.0

#define	GUIDANCE_INDI_MAX_LAT_ACCEL 9.81

#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. More...

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

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. More...

void	guidance_indi_enter (void)
	Call upon entering indi guidance. More...

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. More...

Variables
struct guidance_indi_hybrid_params	gih_params

float	guidance_indi_max_airspeed = GUIDANCE_INDI_MAX_AIRSPEED

float	guidance_indi_pitch_pref_deg = 0

bool	take_heading_control = false

bool	force_forward = false
	forward flight for hybrid nav More...

bool	guidance_indi_airspeed_filtering = false

struct FloatVect3	sp_accel = {0.0,0.0,0.0}

float	climb_vspeed_fwd = GUIDANCE_INDI_CLIMB_SPEED_FWD

float	descend_vspeed_fwd = GUIDANCE_INDI_DESCEND_SPEED_FWD

float	inv_eff [4]

float	guidance_indi_max_bank = GUIDANCE_H_MAX_BANK

float	guidance_indi_min_pitch = GUIDANCE_INDI_MIN_PITCH

struct FloatEulers	eulers_zxy
	state eulers in zxy order More...

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	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 158 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_CLIMB_SPEED_FWD

#define GUIDANCE_INDI_CLIMB_SPEED_FWD 4.0

Definition at line 162 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_DESCEND_SPEED_FWD

#define GUIDANCE_INDI_DESCEND_SPEED_FWD -4.0

Definition at line 166 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_FILTER_CUTOFF

#define GUIDANCE_INDI_FILTER_CUTOFF 3.0

Definition at line 153 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 170 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_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_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 242 of file guidance_indi_hybrid.c.

◆ GUIDANCE_INDI_ZERO_AIRSPEED

#define GUIDANCE_INDI_ZERO_AIRSPEED FALSE

Definition at line 111 of file guidance_indi_hybrid.c.

◆ TURN_AIRSPEED_TH

#define TURN_AIRSPEED_TH 10.0

Definition at line 116 of file guidance_indi_hybrid.c.

Function Documentation

◆ bound_vz_sp()

static float bound_vz_sp ( float vz_sp )

static

Definition at line 685 of file guidance_indi_hybrid.c.

References RotorcraftNavigation::climb_vspeed, climb_vspeed_fwd, RotorcraftNavigation::descend_vspeed, descend_vspeed_fwd, nav, and stateGetAirspeed_f().

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◆ compute_accel_from_speed_sp()

static struct FloatVect3 compute_accel_from_speed_sp ( void )

static

Definition at line 339 of file guidance_indi_hybrid.c.

References accely_filt, Stabilization::cmd, eulers_zxy, filt_accel_ned, filter_cutoff, float_eulers_of_quat_zxy(), 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, stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, thrust_act, thrust_filt, and thrust_in.

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◆ guidance_indi_enter()

void guidance_indi_enter ( void )

Call upon entering indi guidance.

Definition at line 339 of file guidance_indi_hybrid.c.

◆ 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 818 of file guidance_indi_hybrid.c.

References 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().

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◆ guidance_indi_init()

void guidance_indi_init ( void )

Init function.

Definition at line 293 of file guidance_indi_hybrid.c.

References accely_filt, DefaultPeriodic, filt_accel_ned, filter_cutoff, 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.

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◆ 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 792 of file guidance_indi_hybrid.c.

References ACCEL_FLOAT_OF_BFP, accely_filt, eulers_zxy, filt_accel_ned, 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.

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◆ 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 339 of file guidance_indi_hybrid.c.

◆ 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 685 of file guidance_indi_hybrid.c.

◆ 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 253 of file guidance_indi_hybrid.c.

References dev, and Ga.

Referenced by guidance_indi_init().

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◆ send_guidance_indi_hybrid()

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

static

Definition at line 260 of file guidance_indi_hybrid.c.

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

Referenced by guidance_indi_init().

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◆ 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 850 of file guidance_indi_hybrid.c.

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

Referenced by guidance_indi_init().

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Variable Documentation

◆ accely_filt

Butterworth2LowPass accely_filt

Definition at line 191 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_init(), and guidance_indi_propagate_filters().

◆ climb_vspeed_fwd

float climb_vspeed_fwd = GUIDANCE_INDI_CLIMB_SPEED_FWD

Definition at line 173 of file guidance_indi_hybrid.c.

Referenced by bound_vz_sp().

◆ descend_vspeed_fwd

float descend_vspeed_fwd = GUIDANCE_INDI_DESCEND_SPEED_FWD

Definition at line 174 of file guidance_indi_hybrid.c.

Referenced by bound_vz_sp().

◆ desired_airspeed

struct FloatVect2 desired_airspeed

Definition at line 192 of file guidance_indi_hybrid.c.

Referenced by rotwing_state_free_processor().

◆ du_gih

float du_gih[GUIDANCE_INDI_HYBRID_U]

Definition at line 199 of file guidance_indi_hybrid.c.

◆ euler_cmd

struct FloatVect3 euler_cmd

Definition at line 196 of file guidance_indi_hybrid.c.

Referenced by send_guidance_indi_hybrid().

◆ eulers_zxy

struct FloatEulers eulers_zxy

state eulers in zxy order

Definition at line 180 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_hybrid_set_wls_settings(), guidance_indi_propagate_filters(), periodic_rotwing_state(), rot_wing_vis_transition(), rotwing_state_free_processor(), schdule_control_effectiveness(), and send_fp().

◆ filt_accel_ned

Butterworth2LowPass filt_accel_ned[3]

Definition at line 187 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_init(), guidance_indi_propagate_filters(), and send_guidance_indi_hybrid().

◆ filter_cutoff

float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF

Definition at line 231 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), and guidance_indi_init().

◆ force_forward

bool force_forward = false

forward flight for hybrid nav

Definition at line 122 of file guidance_indi_hybrid.c.

Referenced by rotwing_state_set_state_settings().

◆ Ga

float Ga[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U]

Definition at line 196 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_init(), and send_eff_mat_guid_indi_hybrid().

◆ gi_speed_sp

struct FloatVect3 gi_speed_sp = {0.0, 0.0, 0.0}

Definition at line 237 of file guidance_indi_hybrid.c.

Referenced by send_guidance_indi_hybrid().

◆ 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,
}

Definition at line 1 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_get_liftd().

◆ guidance_euler_cmd

struct FloatEulers guidance_euler_cmd

Definition at line 234 of file guidance_indi_hybrid.c.

◆ guidance_indi_airspeed_filt

Butterworth2LowPass guidance_indi_airspeed_filt

Definition at line 192 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_init(), and guidance_indi_propagate_filters().

◆ guidance_indi_airspeed_filt_cutoff

float guidance_indi_airspeed_filt_cutoff = GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF

Definition at line 232 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), and guidance_indi_init().

◆ guidance_indi_airspeed_filtering

bool guidance_indi_airspeed_filtering = false

Definition at line 124 of file guidance_indi_hybrid.c.

◆ guidance_indi_hybrid_heading_sp

float guidance_indi_hybrid_heading_sp = 0.f

Definition at line 234 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp().

◆ guidance_indi_max_airspeed

float guidance_indi_max_airspeed = GUIDANCE_INDI_MAX_AIRSPEED

Definition at line 90 of file guidance_indi_hybrid.c.

Referenced by rotwing_state_free_processor().

◆ guidance_indi_max_bank

float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK

Definition at line 179 of file guidance_indi_hybrid.c.

◆ guidance_indi_min_pitch

float guidance_indi_min_pitch = GUIDANCE_INDI_MIN_PITCH

Definition at line 180 of file guidance_indi_hybrid.c.

◆ guidance_indi_pitch_pref_deg

float guidance_indi_pitch_pref_deg = 0

Definition at line 93 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_hybrid_set_wls_settings().

◆ indi_vel_sp

struct FloatVect3 indi_vel_sp = {0.0, 0.0, 0.0}

Definition at line 245 of file guidance_indi_hybrid.c.

Referenced by vel_sp_cb().

◆ inv_eff

float inv_eff[4]

Definition at line 176 of file guidance_indi_hybrid.c.

◆ pitch_filt

Butterworth2LowPass pitch_filt

Definition at line 189 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_init(), and guidance_indi_propagate_filters().

◆ roll_filt

Butterworth2LowPass roll_filt

Definition at line 188 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), guidance_indi_init(), and guidance_indi_propagate_filters().

◆ sp_accel

struct FloatVect3 sp_accel = {0.0,0.0,0.0}

Definition at line 124 of file guidance_indi_hybrid.c.

Referenced by send_guidance_indi_hybrid().

◆ take_heading_control

bool take_heading_control = false

Definition at line 120 of file guidance_indi_hybrid.c.

◆ thrust_act

float thrust_act = 0.f

Definition at line 186 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp().

◆ thrust_dyn

float thrust_dyn = 0.f

Definition at line 185 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_init().

◆ thrust_filt

Butterworth2LowPass thrust_filt

Definition at line 190 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp(), and guidance_indi_init().

◆ thrust_in

float thrust_in

Definition at line 237 of file guidance_indi_hybrid.c.

Referenced by compute_accel_from_speed_sp().

◆ thrust_sp

struct ThrustSetpoint thrust_sp

Definition at line 234 of file guidance_indi_hybrid.c.

◆ time_of_vel_sp

float time_of_vel_sp = 0.0

Definition at line 247 of file guidance_indi_hybrid.c.

Referenced by vel_sp_cb().

◆ v_gih

float v_gih[3]

Definition at line 228 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_calcg_wing().

◆ vel_sp_ev

abi_event vel_sp_ev

Definition at line 244 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_init().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ GUIDANCE_INDI_AIRSPEED_FILT_CUTOFF

◆ GUIDANCE_INDI_CLIMB_SPEED_FWD

◆ GUIDANCE_INDI_DESCEND_SPEED_FWD

◆ GUIDANCE_INDI_FILTER_CUTOFF

◆ GUIDANCE_INDI_LIFTD_ASQ

◆ GUIDANCE_INDI_LIFTD_P50

◆ GUIDANCE_INDI_LIFTD_P80

◆ GUIDANCE_INDI_MAX_LAT_ACCEL

◆ GUIDANCE_INDI_MAX_PUSHER_INCREMENT

◆ GUIDANCE_INDI_POS_GAIN

◆ GUIDANCE_INDI_POS_GAINZ

◆ GUIDANCE_INDI_SPEED_GAIN

◆ GUIDANCE_INDI_SPEED_GAINZ

◆ GUIDANCE_INDI_VEL_SP_ID

◆ GUIDANCE_INDI_ZERO_AIRSPEED

◆ TURN_AIRSPEED_TH

Function Documentation

◆ bound_vz_sp()

◆ compute_accel_from_speed_sp()

◆ guidance_indi_enter()

◆ guidance_indi_get_liftd()

◆ guidance_indi_init()

◆ guidance_indi_propagate_filters()

◆ guidance_indi_run()

◆ guidance_indi_run_mode()

◆ send_eff_mat_guid_indi_hybrid()

◆ send_guidance_indi_hybrid()

◆ vel_sp_cb()

Variable Documentation

◆ accely_filt

◆ climb_vspeed_fwd

◆ descend_vspeed_fwd

◆ desired_airspeed

◆ du_gih

◆ euler_cmd

◆ eulers_zxy

◆ filt_accel_ned

◆ filter_cutoff

◆ force_forward

◆ Ga

◆ gi_speed_sp

◆ gih_params

◆ guidance_euler_cmd

◆ guidance_indi_airspeed_filt

◆ guidance_indi_airspeed_filt_cutoff

◆ guidance_indi_airspeed_filtering

◆ guidance_indi_hybrid_heading_sp

◆ guidance_indi_max_airspeed

◆ guidance_indi_max_bank

◆ guidance_indi_min_pitch

◆ guidance_indi_pitch_pref_deg

◆ indi_vel_sp

◆ inv_eff

◆ pitch_filt

◆ roll_filt

◆ sp_accel

◆ take_heading_control

◆ thrust_act

◆ thrust_dyn

◆ thrust_filt

◆ thrust_in

◆ thrust_sp

◆ time_of_vel_sp

◆ v_gih

◆ vel_sp_ev