guidance_hybrid module

Guidance controller for hybrid vehicles

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_hybrid"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_hybrid_init()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_hybrid.h

Source Files

• /guidance/guidance_hybrid.c

Raw guidance_hybrid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_hybrid" dir="guidance" task="control">
  <doc>
    <description>
      Guidance controller for hybrid vehicles
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Hybrid Guidance">
        <dl_setting var="max_airspeed" MIN="4" STEP="1" MAX="160" module="guidance/guidance_hybrid"/>
        <dl_setting var="wind_gain" MIN="1" STEP="1" MAX="256"/>
        <dl_setting var="horizontal_speed_gain" MIN="1" STEP="1" MAX="15" shortname="hor_speed_div"/>
        <dl_setting var="max_turn_bank" MIN="10.0" STEP="1.0" MAX="60.0"/>
        <dl_setting var="turn_bank_gain" MIN="0.1" STEP="0.01" MAX="3.0"/>
 
        <dl_setting var="cruise_throttle" MIN="0" STEP="1" MAX="9600"/>
        <dl_setting var="fwd_speed_p_gain" MIN="0" STEP="1" MAX="9600"/>
        <dl_setting var="fwd_alt_thrust_gain" MIN="0.0" STEP="0.01" MAX="4.0"/>
        <dl_setting var="fwd_pid_div" MIN="0.01" STEP="0.01" MAX="10.0"/>
        <dl_setting var="fwd_nominal_pitch" MIN=".0" STEP="0.01" MAX="120.0"/>
        <dl_setting var="fwd_pitch_gain" MIN=".0" STEP="0.01" MAX="120.0"/>
        <dl_setting var="hover_p_gain" MIN="0" STEP="1" MAX="150"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation,guidance_pid_rotorcraft</depends>
    <provides>guidance,attitude_command</provides>
  </dep>
  <header>
    <file name="guidance_hybrid.h"/>
  </header>
  <init fun="guidance_hybrid_init()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
    <define name="GUIDANCE_HYBRID_USE_AS_DEFAULT" value="TRUE"/>
  </makefile>
</module>