Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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guidance_v_ref.h
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1/*
2 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3 * Copyright (C) 2013 Gautier Hattenberger
4 *
5 * This file is part of paparazzi.
6 *
7 * paparazzi is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2, or (at your option)
10 * any later version.
11 *
12 * paparazzi is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with paparazzi; see the file COPYING. If not, write to
19 * the Free Software Foundation, 59 Temple Place - Suite 330,
20 * Boston, MA 02111-1307, USA.
21 */
22
28#ifndef GUIDANCE_V_REF_H
29#define GUIDANCE_V_REF_H
30
31#include "inttypes.h"
32#include "math/pprz_algebra.h"
34#include "generated/airframe.h"
35
36#ifndef GUIDANCE_V_REF_MIN_ZD
37#define GUIDANCE_V_REF_MIN_ZD (-3.)
38#endif
39
40#ifndef GUIDANCE_V_REF_MAX_ZD
41#define GUIDANCE_V_REF_MAX_ZD ( 3.)
42#endif
43
44
47#define GV_FREQ_FRAC 9
48#define GV_FREQ (1<<GV_FREQ_FRAC)
49
54extern int32_t gv_zdd_ref;
55
57#define GV_ZDD_REF_FRAC 8
58
63extern int32_t gv_zd_ref;
64
66#define GV_ZD_REF_FRAC (GV_ZDD_REF_FRAC + GV_FREQ_FRAC)
67
72extern int64_t gv_z_ref;
73
75#define GV_Z_REF_FRAC (GV_ZD_REF_FRAC + GV_FREQ_FRAC)
76
77extern void gv_set_ref(int32_t alt, int32_t speed, int32_t accel);
78extern void gv_update_ref_from_z_sp(int32_t z_sp);
79
84extern void gv_update_ref_from_zd_sp(int32_t zd_sp, int32_t z_pos);
85
86#endif /* GUIDANCE_V_REF_H */
int32_t gv_zdd_ref
reference model vertical accel in meters/s^2 (output) fixed point representation with GV_ZDD_REF_FRAC...
int64_t gv_z_ref
reference model altitude in meters (output) fixed point representation with GV_Z_REF_FRAC Q37....
void gv_set_ref(int32_t alt, int32_t speed, int32_t accel)
void gv_update_ref_from_z_sp(int32_t z_sp)
void gv_update_ref_from_zd_sp(int32_t zd_sp, int32_t z_pos)
update vertical reference from speed setpoint.
int32_t gv_zd_ref
reference model vertical speed in meters/sec (output) fixed point representation with GV_ZD_REF_FRAC ...
uint16_t foo
Definition main_demo5.c:58
Paparazzi generic algebra macros.
Paparazzi fixed point algebra.
int int32_t
Typedef defining 32 bit int type.