guidance_indi_hybrid.h File Reference

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "filters/high_pass_filter.h"

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Data Structures
struct	guidance_indi_hybrid_params

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, int32_t heading)
void	guidance_indi_init (void)
	Init function. More...
void	guidance_indi_propagate_filters (void)
	Low pass the accelerometer measurements to remove noise from vibrations. More...

Variables
struct guidance_indi_hybrid_params	gih_params
float	guidance_indi_specific_force_gain
float	guidance_indi_max_airspeed
float	nav_max_speed
bool	take_heading_control
float	guidance_indi_max_bank

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to ICRA2016 to learn more!

Definition in file guidance_indi_hybrid.h.

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Data Structure Documentation

guidance_indi_hybrid_params

struct guidance_indi_hybrid_params

Definition at line 44 of file guidance_indi_hybrid.h.

Data Fields
float	heading_bank_gain
float	pos_gain
float	pos_gainz
float	speed_gain
float	speed_gainz

Function Documentation

guidance_indi_enter()

void guidance_indi_enter

(

void

)

Call upon entering indi guidance.

Definition at line 159 of file guidance_indi.c.

References accely_filt, filt_accel_ned, filter_cutoff, init_butterworth_2_low_pass(), FloatEulers::phi, pitch_filt, roll_filt, stabilization_cmd, stateGetNedToBodyEulers_f(), FloatEulers::theta, thrust_act, thrust_filt, and thrust_in.

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.

References accel_sp_cb(), accel_sp_ev, accely_filt, DefaultPeriodic, filt_accel_ned, filter_cutoff, GUIDANCE_INDI_ACCEL_SP_ID, init_butterworth_2_low_pass(), pitch_filt, register_periodic_telemetry(), roll_filt, send_guidance_indi_hybrid(), send_indi_guidance(), and thrust_filt.

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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 481 of file guidance_indi_hybrid.c.

References ACCEL_FLOAT_OF_BFP, accely_filt, eulers_zxy, filt_accel_ned, FloatEulers::phi, pitch_filt, roll_filt, stateGetAccelBody_i(), 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_sp

the desired heading [rad]

main indi guidance function

Definition at line 179 of file guidance_indi.c.

References HorizontalGuidanceReference::accel, ACCEL_FLOAT_OF_BFP, accely_filt, ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, AP_MODE_NAV, autopilot, BFP_OF_REAL, control_increment, desired_airspeed, euler_cmd, eulers_zxy, filt_accel_ned, FLOAT_ANGLE_NORMALIZE, float_eulers_of_quat_yxz(), float_eulers_of_quat_zxy(), float_quat_normalize(), float_quat_of_eulers_yxz(), float_quat_of_eulers_zxy(), FLOAT_VECT2_NORM, force_forward, Ga, Ga_inv, get_sys_time_float(), gih_params, guidance_euler_cmd, guidance_h, guidance_indi_calcg_wing(), guidance_indi_calcG_yxz(), guidance_indi_max_airspeed, guidance_indi_max_bank, guidance_indi_pos_gain, guidance_indi_propagate_filters(), guidance_indi_specific_force_gain, guidance_indi_speed_gain, guidance_v_z_ref, guidance_v_zd_ref, guidance_v_zdd_ref, guidance_indi_hybrid_params::heading_bank_gain, indi_accel_sp, indi_accel_sp_set_2d, indi_accel_sp_set_3d, INT32_ANGLE_FRAC, INT32_PERCENTAGE_FRAC, INT_MULT_RSHIFT, MAT33_INV, MAT33_VECT3_MUL, Min, pprz_autopilot::mode, nav_get_speed_setpoint(), nav_heading, SecondOrderLowPass::o, FloatEulers::phi, pitch_filt, HorizontalGuidanceReference::pos, POS_FLOAT_OF_BFP, guidance_indi_hybrid_params::pos_gain, guidance_indi_hybrid_params::pos_gainz, FloatEulers::psi, QUAT_BFP_OF_REAL, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, HorizontalGuidance::ref, roll_filt, sp_accel, HorizontalGuidanceReference::speed, SPEED_FLOAT_OF_BFP, guidance_indi_hybrid_params::speed_gain, guidance_indi_hybrid_params::speed_gainz, speed_sp, stab_att_sp_quat, stabilization_cmd, stateGetAirspeed_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetSpeedNed_f(), take_heading_control, FloatEulers::theta, thrust_filt, thrust_in, THRUST_INCREMENT_ID, time_of_accel_sp_2d, time_of_accel_sp_3d, transition_percentage, transition_theta_offset, RadioControl::values, VECT2_DIFF, vect_bound_in_2d(), FloatVect2::x, FloatVect3::x, NedCoor_f::x, Int32Vect2::x, FloatVect2::y, FloatVect3::y, NedCoor_f::y, Int32Vect2::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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stabilization_attitude_set_setpoint_rp_quat_f()

void stabilization_attitude_set_setpoint_rp_quat_f	(	struct FloatEulers *	indi_rp_cmd,
		bool	in_flight,
		int32_t	heading
	)

Variable Documentation

gih_params

struct guidance_indi_hybrid_params gih_params

Definition at line 64 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run(), nav_get_speed_sp_from_go(), and nav_get_speed_sp_from_line().

guidance_indi_max_airspeed

float guidance_indi_max_airspeed

Definition at line 77 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run().

guidance_indi_max_bank

float guidance_indi_max_bank

Definition at line 111 of file guidance_indi.c.

Referenced by guidance_indi_run().

guidance_indi_specific_force_gain

float guidance_indi_specific_force_gain

nav_max_speed

float nav_max_speed

Definition at line 81 of file guidance_indi_hybrid.c.

take_heading_control

bool take_heading_control

Definition at line 88 of file guidance_indi_hybrid.c.

Referenced by guidance_indi_run().