guidance_h.h File Reference

Horizontal guidance for rotorcrafts. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "firmwares/rotorcraft/guidance/guidance_h_ref.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "generated/airframe.h"
#include "std.h"

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Data Structures
struct	HorizontalGuidanceSetpoint
struct	HorizontalGuidanceReference
struct	HorizontalGuidance

Macros
#define	GUIDANCE_H_USE_REF   TRUE
	Use horizontal guidance reference trajectory. More...
#define	GUIDANCE_H_USE_SPEED_REF   TRUE
	Use horizontal guidance speed reference. More...
#define	GUIDANCE_H_MODE_KILL   0
#define	GUIDANCE_H_MODE_RATE   1
#define	GUIDANCE_H_MODE_ATTITUDE   2
#define	GUIDANCE_H_MODE_HOVER   3
#define	GUIDANCE_H_MODE_NAV   4
#define	GUIDANCE_H_MODE_RC_DIRECT   5
#define	GUIDANCE_H_MODE_CARE_FREE   6
#define	GUIDANCE_H_MODE_FORWARD   7
#define	GUIDANCE_H_MODE_MODULE   8
#define	GUIDANCE_H_MODE_FLIP   9
#define	GUIDANCE_H_MODE_GUIDED   10
#define	GUIDANCE_H_MAX_BANK   RadOfDeg(20)
	Max bank controlled by guidance. More...
#define	guidance_h_SetUseRef(_val)

Functions
void	guidance_h_init (void)
void	guidance_h_mode_changed (uint8_t new_mode)
void	guidance_h_read_rc (bool in_flight)
void	guidance_h_run (bool in_flight)
void	guidance_h_run_enter (void)
struct StabilizationSetpoint	guidance_h_run_pos (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_h_run_speed (bool in_flight, struct HorizontalGuidance *gh)
struct StabilizationSetpoint	guidance_h_run_accel (bool in_flight, struct HorizontalGuidance *gh)
void	guidance_h_hover_enter (void)
void	guidance_h_nav_enter (void)
void	guidance_h_from_nav (bool in_flight)
	Set horizontal guidance from NAV and run control loop. More...
void	guidance_h_guided_run (bool in_flight)
	Run GUIDED mode control. More...
void	guidance_h_set_pos (float x, float y)
	Set horizontal position setpoint. More...
void	guidance_h_set_heading (float heading)
	Set heading setpoint. More...
void	guidance_h_set_body_vel (float vx, float vy)
	Set body relative horizontal velocity setpoint. More...
void	guidance_h_set_acc (float ax, float ay)
	Set horizontal velocity setpoint. More...
void	guidance_h_set_body_acc (float ax, float ay)
	Set body relative horizontal acceleration setpoint. More...
void	guidance_h_set_vel (float vx, float vy)
	Set horizontal acceleration setpoint. More...
void	guidance_h_set_heading_rate (float rate)
	Set heading rate setpoint. More...
static void	guidance_h_SetMaxSpeed (float speed)
static void	guidance_h_SetOmega (float omega)
static void	guidance_h_SetZeta (float zeta)
static void	guidance_h_SetTau (float tau)

Variables
struct HorizontalGuidance	guidance_h
int32_t	transition_percentage

Detailed Description

Horizontal guidance for rotorcrafts.

Definition in file guidance_h.h.

---

Data Structure Documentation

HorizontalGuidanceReference

struct HorizontalGuidanceReference

Definition at line 98 of file guidance_h.h.

Collaboration diagram for HorizontalGuidanceReference:

Data Fields
struct Int32Vect2	accel	with INT32_ACCEL_FRAC
struct Int32Vect2	pos	with INT32_POS_FRAC
struct Int32Vect2	speed	with INT32_SPEED_FRAC

HorizontalGuidance

struct HorizontalGuidance

Definition at line 104 of file guidance_h.h.

Collaboration diagram for HorizontalGuidance:

Data Fields
uint8_t	mode
struct FloatEulers	rc_sp	remote control setpoint
struct HorizontalGuidanceReference	ref	reference calculated from setpoints
struct HorizontalGuidanceSetpoint	sp	setpoints
bool	use_ref

Macro Definition Documentation

GUIDANCE_H_MAX_BANK

#define GUIDANCE_H_MAX_BANK   RadOfDeg(20)

Max bank controlled by guidance.

Definition at line 71 of file guidance_h.h.

GUIDANCE_H_MODE_ATTITUDE

#define GUIDANCE_H_MODE_ATTITUDE   2

Definition at line 58 of file guidance_h.h.

GUIDANCE_H_MODE_CARE_FREE

#define GUIDANCE_H_MODE_CARE_FREE   6

Definition at line 62 of file guidance_h.h.

GUIDANCE_H_MODE_FLIP

#define GUIDANCE_H_MODE_FLIP   9

Definition at line 65 of file guidance_h.h.

GUIDANCE_H_MODE_FORWARD

#define GUIDANCE_H_MODE_FORWARD   7

Definition at line 63 of file guidance_h.h.

GUIDANCE_H_MODE_GUIDED

#define GUIDANCE_H_MODE_GUIDED   10

Definition at line 66 of file guidance_h.h.

GUIDANCE_H_MODE_HOVER

#define GUIDANCE_H_MODE_HOVER   3

Definition at line 59 of file guidance_h.h.

GUIDANCE_H_MODE_KILL

#define GUIDANCE_H_MODE_KILL   0

Definition at line 56 of file guidance_h.h.

GUIDANCE_H_MODE_MODULE

#define GUIDANCE_H_MODE_MODULE   8

Definition at line 64 of file guidance_h.h.

GUIDANCE_H_MODE_NAV

#define GUIDANCE_H_MODE_NAV   4

Definition at line 60 of file guidance_h.h.

GUIDANCE_H_MODE_RATE

#define GUIDANCE_H_MODE_RATE   1

Definition at line 57 of file guidance_h.h.

GUIDANCE_H_MODE_RC_DIRECT

#define GUIDANCE_H_MODE_RC_DIRECT   5

Definition at line 61 of file guidance_h.h.

guidance_h_SetUseRef

#define guidance_h_SetUseRef

(

_val

)

Value:

    {                    \
    guidance_h.use_ref = _val && GUIDANCE_H_USE_REF;    \
  }

Definition at line 182 of file guidance_h.h.

GUIDANCE_H_USE_REF

#define GUIDANCE_H_USE_REF   TRUE

Use horizontal guidance reference trajectory.

Default is TRUE, define to FALSE to always disable it.

Definition at line 45 of file guidance_h.h.

GUIDANCE_H_USE_SPEED_REF

#define GUIDANCE_H_USE_SPEED_REF   TRUE

Use horizontal guidance speed reference.

This also allows to give velocity commands via RC in GUIDANCE_H_MODE_HOVER. Default is TRUE, define to FALSE to always disable it.

Definition at line 53 of file guidance_h.h.

Function Documentation

guidance_h_from_nav()

void guidance_h_from_nav

(

bool

in_flight

)

Set horizontal guidance from NAV and run control loop.

Definition at line 448 of file guidance_h.c.

References RotorcraftNavigation::accel, ANGLE_BFP_OF_REAL, RotorcraftNavigation::carrot, guidance_h, guidance_h_cmd, guidance_h_guided_run(), guidance_h_nav_enter(), guidance_h_run_accel(), guidance_h_run_pos(), guidance_h_run_speed(), guidance_h_set_acc(), guidance_h_set_heading(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_h_update_reference(), RotorcraftNavigation::heading, RotorcraftNavigation::horizontal_mode, nav, NAV_HORIZONTAL_MODE_ATTITUDE, NAV_HORIZONTAL_MODE_GUIDED, NAV_HORIZONTAL_MODE_NONE, NAV_SETPOINT_MODE_ACCEL, NAV_SETPOINT_MODE_POS, NAV_SETPOINT_MODE_QUAT, NAV_SETPOINT_MODE_SPEED, Int32Eulers::phi, RotorcraftNavigation::pitch, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, Int32Eulers::psi, RotorcraftNavigation::quat, QUAT_BFP_OF_REAL, RotorcraftNavigation::roll, RotorcraftNavigation::setpoint_mode, HorizontalGuidance::sp, RotorcraftNavigation::speed, stabilization_attitude_run(), stabilization_attitude_set_quat_setpoint_i(), stabilization_attitude_set_rpy_setpoint_i(), stabilization_attitude_set_stab_sp(), Int32Eulers::theta, Int32Vect2::x, EnuCoor_f::x, Int32Vect2::y, and EnuCoor_f::y.

Referenced by guidance_h_run().

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guidance_h_guided_run()

void guidance_h_guided_run

(

bool

in_flight

)

Run GUIDED mode control.

Definition at line 563 of file guidance_h.c.

References guidance_h, guidance_h_cmd, guidance_h_hover_enter(), guidance_h_run_pos(), guidance_h_update_reference(), stabilization_attitude_run(), and stabilization_attitude_set_stab_sp().

Referenced by guidance_h_from_nav(), and guidance_h_run().

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guidance_h_hover_enter()

void guidance_h_hover_enter

(

void

)

Definition at line 416 of file guidance_h.c.

References guidance_h, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), FloatEulers::psi, HorizontalGuidance::rc_sp, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by guidance_h_guided_run(), and guidance_h_mode_changed().

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guidance_h_init()

void guidance_h_init

(

void

)

Definition at line 107 of file guidance_h.c.

References DefaultPeriodic, FLOAT_EULERS_ZERO, gh_ref_init(), guidance_h, GUIDANCE_H_MODE_KILL, guidance_h_module_init(), GUIDANCE_H_USE_REF, HorizontalGuidanceSetpoint::h_mask, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::heading_rate, INT_VECT2_ZERO, HorizontalGuidance::mode, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::rc_sp, register_periodic_telemetry(), send_gh(), send_href(), send_tune_hover(), HorizontalGuidance::sp, transition_percentage, transition_theta_offset, HorizontalGuidance::use_ref, and HorizontalGuidanceSetpoint::yaw_mask.

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guidance_h_mode_changed()

void guidance_h_mode_changed

(

uint8_t

new_mode

)

Definition at line 151 of file guidance_h.c.

References guidance_flip_enter(), guidance_h, guidance_h_hover_enter(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_KILL, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_enter(), guidance_h_nav_enter(), HorizontalGuidance::mode, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_none_enter(), and stabilization_rate_enter().

Referenced by autopilot_static_set_mode().

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guidance_h_nav_enter()

void guidance_h_nav_enter

(

void

)

Definition at line 437 of file guidance_h.c.

References RotorcraftNavigation::carrot, guidance_h_run_enter(), guidance_h_set_heading(), guidance_h_set_pos(), RotorcraftNavigation::heading, nav, reset_guidance_reference_from_current_position(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by guidance_h_from_nav(), and guidance_h_mode_changed().

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guidance_h_read_rc()

void guidance_h_read_rc

(

bool

in_flight

)

Definition at line 224 of file guidance_h.c.

References FALSE, FLOAT_EULERS_ZERO, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_read_rc(), HorizontalGuidanceSetpoint::h_mask, HorizontalGuidance::mode, radio_control, RC_OK, HorizontalGuidance::rc_sp, read_rc_setpoint_speed_i(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), RadioControl::status, and TRUE.

Referenced by autopilot_static_on_rc_frame(), and ins_ekf2_publish_attitude().

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guidance_h_run()

void guidance_h_run

(

bool

in_flight

)

Definition at line 283 of file guidance_h.c.

References guidance_flip_run(), guidance_h, guidance_h_from_nav(), guidance_h_guided_run(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_run(), HorizontalGuidanceSetpoint::heading, INT32_PERCENTAGE_FRAC, HorizontalGuidance::mode, FloatEulers::psi, HorizontalGuidance::rc_sp, HorizontalGuidance::sp, stabilization_attitude_run(), stabilization_filter_commands(), stabilization_none_run(), stabilization_rate_run(), transition_percentage, and transition_run().

Referenced by autopilot_static_periodic().

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guidance_h_run_accel()

struct StabilizationSetpoint guidance_h_run_accel	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

Definition at line 44 of file guidance_oneloop.c.

Referenced by guidance_h_from_nav().

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guidance_h_run_enter()

void guidance_h_run_enter

(

void

)

Definition at line 34 of file guidance_oneloop.c.

References oneloop_andi_enter().

Referenced by guidance_h_hover_enter(), and guidance_h_nav_enter().

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guidance_h_run_pos()

struct StabilizationSetpoint guidance_h_run_pos	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

Definition at line 44 of file guidance_oneloop.c.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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guidance_h_run_speed()

struct StabilizationSetpoint guidance_h_run_speed	(	bool	in_flight,
		struct HorizontalGuidance *	gh
	)

Definition at line 44 of file guidance_oneloop.c.

Referenced by guidance_h_from_nav().

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guidance_h_set_acc()

void guidance_h_set_acc	(	float	ax,
		float	ay
	)

Set horizontal velocity setpoint.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.

Definition at line 621 of file guidance_h.c.

References HorizontalGuidanceSetpoint::accel, ACCEL_BFP_OF_REAL, guidance_h, HorizontalGuidanceSetpoint::h_mask, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_h_from_nav(), and guidance_h_set_body_acc().

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guidance_h_set_body_acc()

void guidance_h_set_body_acc	(	float	ax,
		float	ay
	)

Set body relative horizontal acceleration setpoint.

Parameters

vx	forward acceleration (body frame) in meters/sec².
vy	right acceleration (body frame) in meters/sec².

Definition at line 613 of file guidance_h.c.

References guidance_h_set_acc(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

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guidance_h_set_body_vel()

void guidance_h_set_body_vel	(	float	vx,
		float	vy
	)

Set body relative horizontal velocity setpoint.

Parameters

vx	forward velocity (body frame) in meters/sec.
vy	right velocity (body frame) in meters/sec.

Definition at line 595 of file guidance_h.c.

References guidance_h_set_vel(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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guidance_h_set_heading()

void guidance_h_set_heading

(

float

heading

)

Set heading setpoint.

Parameters

heading

Setpoint in radians.

Definition at line 588 of file guidance_h.c.

References FLOAT_ANGLE_NORMALIZE, guidance_h, HorizontalGuidanceSetpoint::heading, heading, HorizontalGuidance::sp, and HorizontalGuidanceSetpoint::yaw_mask.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), guidance_h_nav_enter(), and orange_avoider_guided_periodic().

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guidance_h_set_heading_rate()

void guidance_h_set_heading_rate

(

float

rate

)

Set heading rate setpoint.

Parameters

rate	Heading rate in radians.

Definition at line 631 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::heading_rate, HorizontalGuidance::sp, and HorizontalGuidanceSetpoint::yaw_mask.

Referenced by autopilot_guided_update(), and orange_avoider_guided_periodic().

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guidance_h_set_pos()

void guidance_h_set_pos	(	float	x,
		float	y
	)

Set horizontal position setpoint.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.

Definition at line 578 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::h_mask, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_update(), guidance_h_from_nav(), guidance_h_hover_enter(), and guidance_h_nav_enter().

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guidance_h_set_vel()

void guidance_h_set_vel	(	float	vx,
		float	vy
	)

Set horizontal acceleration setpoint.

Parameters

vx	North acceleration (local NED frame) in meters/sec².
vy	East acceleration (local NED frame) in meters/sec².

Definition at line 603 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::h_mask, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, SPEED_BFP_OF_REAL, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_move_ned(), autopilot_guided_update(), guidance_h_from_nav(), and guidance_h_set_body_vel().

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guidance_h_SetMaxSpeed()

static void guidance_h_SetMaxSpeed ( float  speed )

inlinestatic

Definition at line 186 of file guidance_h.h.

References gh_set_max_speed().

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guidance_h_SetOmega()

static void guidance_h_SetOmega ( float  omega )

inlinestatic

Definition at line 191 of file guidance_h.h.

References gh_set_omega().

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guidance_h_SetTau()

static void guidance_h_SetTau ( float  tau )

inlinestatic

Definition at line 201 of file guidance_h.h.

guidance_h_SetZeta()

static void guidance_h_SetZeta ( float  zeta )

inlinestatic

Definition at line 196 of file guidance_h.h.

References gh_set_zeta().

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Variable Documentation

guidance_h

struct HorizontalGuidance guidance_h

extern

Definition at line 1 of file guidance_h.c.

Referenced by guidance_h_from_nav(), guidance_h_guided_run(), guidance_h_hover_enter(), guidance_h_init(), guidance_h_mode_changed(), guidance_h_read_rc(), guidance_h_run(), guidance_h_set_acc(), guidance_h_set_heading(), guidance_h_set_heading_rate(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_h_update_reference(), ins_ekf2_publish_attitude(), orange_avoider_guided_periodic(), periodic_rotwing_state(), reset_guidance_reference_from_current_position(), send_fp(), send_gh(), send_hover_loop(), send_href(), send_status(), and stabilization_indi_set_wls_settings().

transition_percentage

int32_t transition_percentage

extern

Definition at line 52 of file guidance_h.c.

Referenced by eff_scheduling_generic_periodic(), eff_scheduling_periodic_a(), guidance_h_init(), guidance_h_run(), and transition_run().