Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_v.h File Reference
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Macros

#define GUIDANCE_V_MODE_KILL   0
 
#define GUIDANCE_V_MODE_RC_DIRECT   1
 
#define GUIDANCE_V_MODE_RC_CLIMB   2
 
#define GUIDANCE_V_MODE_CLIMB   3
 
#define GUIDANCE_V_MODE_HOVER   4
 
#define GUIDANCE_V_MODE_NAV   5
 
#define GUIDANCE_V_MODE_MODULE   6
 
#define GUIDANCE_V_MODE_FLIP   7
 
#define GUIDANCE_V_MODE_GUIDED   8
 
#define GuidanceVSetRef   guidance_v_set_ref
 
#define guidance_v_SetKi(_val)
 

Functions

void guidance_v_init (void)
 
void guidance_v_read_rc (void)
 
void guidance_v_mode_changed (uint8_t new_mode)
 
void guidance_v_thrust_adapt (bool in_flight)
 
void guidance_v_notify_in_flight (bool in_flight)
 
void guidance_v_run (bool in_flight)
 
void guidance_v_z_enter (void)
 
void guidance_v_set_ref (int32_t pos, int32_t speed, int32_t accel)
 Set guidance ref parameters. More...
 
void run_hover_loop (bool in_flight)
 
void guidance_v_from_nav (bool in_flight)
 Set guidance setpoint from NAV and run hover loop. More...
 
void guidance_v_guided_enter (void)
 Enter GUIDED mode control. More...
 
void guidance_v_guided_run (bool in_flight)
 Run GUIDED mode control. More...
 
bool guidance_v_set_guided_z (float z)
 Set z setpoint in GUIDED mode. More...
 
bool guidance_v_set_guided_vz (float vz)
 Set z velocity setpoint in GUIDED mode. More...
 
bool guidance_v_set_guided_th (float th)
 

Variables

uint8_t guidance_v_mode
 
int32_t guidance_v_z_sp
 altitude setpoint in meters (input). More...
 
int32_t guidance_v_zd_sp
 vertical speed setpoint in meter/s (input). More...
 
int32_t guidance_v_z_ref
 altitude reference in meters. More...
 
int32_t guidance_v_zd_ref
 vertical speed reference in meter/s. More...
 
int32_t guidance_v_zdd_ref
 vertical acceleration reference in meter/s^2. More...
 
int32_t guidance_v_z_sum_err
 accumulator for I-gain More...
 
int32_t guidance_v_ff_cmd
 feed-forward command More...
 
int32_t guidance_v_fb_cmd
 feed-back command More...
 
int32_t guidance_v_rc_delta_t
 Direct throttle from radio control. More...
 
int32_t guidance_v_delta_t
 thrust command. More...
 
float guidance_v_nominal_throttle
 nominal throttle for hover. More...
 
bool guidance_v_adapt_throttle_enabled
 Use adaptive throttle command estimation. More...
 
int32_t guidance_v_thrust_coeff
 
int32_t guidance_v_kp
 vertical control P-gain More...
 
int32_t guidance_v_kd
 vertical control D-gain More...
 
int32_t guidance_v_ki
 vertical control I-gain More...
 

Detailed Description

Vertical guidance for rotorcrafts.

Definition in file guidance_v.h.

Macro Definition Documentation

◆ GUIDANCE_V_MODE_CLIMB

#define GUIDANCE_V_MODE_CLIMB   3

Definition at line 38 of file guidance_v.h.

◆ GUIDANCE_V_MODE_FLIP

#define GUIDANCE_V_MODE_FLIP   7

Definition at line 42 of file guidance_v.h.

◆ GUIDANCE_V_MODE_GUIDED

#define GUIDANCE_V_MODE_GUIDED   8

Definition at line 43 of file guidance_v.h.

◆ GUIDANCE_V_MODE_HOVER

#define GUIDANCE_V_MODE_HOVER   4

Definition at line 39 of file guidance_v.h.

◆ GUIDANCE_V_MODE_KILL

#define GUIDANCE_V_MODE_KILL   0

Definition at line 35 of file guidance_v.h.

◆ GUIDANCE_V_MODE_MODULE

#define GUIDANCE_V_MODE_MODULE   6

Definition at line 41 of file guidance_v.h.

◆ GUIDANCE_V_MODE_NAV

#define GUIDANCE_V_MODE_NAV   5

Definition at line 40 of file guidance_v.h.

◆ GUIDANCE_V_MODE_RC_CLIMB

#define GUIDANCE_V_MODE_RC_CLIMB   2

Definition at line 37 of file guidance_v.h.

◆ GUIDANCE_V_MODE_RC_DIRECT

#define GUIDANCE_V_MODE_RC_DIRECT   1

Definition at line 36 of file guidance_v.h.

◆ guidance_v_SetKi

#define guidance_v_SetKi (   _val)
Value:
{ \
guidance_v_ki = _val; \
guidance_v_z_sum_err = 0; \
}

Definition at line 150 of file guidance_v.h.

◆ GuidanceVSetRef

#define GuidanceVSetRef   guidance_v_set_ref

Definition at line 120 of file guidance_v.h.

Function Documentation

◆ guidance_v_from_nav()

◆ guidance_v_guided_enter()

void guidance_v_guided_enter ( void  )

Enter GUIDED mode control.

Definition at line 505 of file guidance_v.c.

References guidance_v_guided_mode, GUIDANCE_V_GUIDED_MODE_ZHOLD, guidance_v_z_sp, guidance_v_z_sum_err, guidance_v_zd_sp, GuidanceVSetRef, stateGetPositionNed_i(), stateGetSpeedNed_i(), and NedCoor_i::z.

Referenced by guidance_v_mode_changed().

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◆ guidance_v_guided_run()

void guidance_v_guided_run ( bool  in_flight)

◆ guidance_v_init()

◆ guidance_v_mode_changed()

◆ guidance_v_notify_in_flight()

void guidance_v_notify_in_flight ( bool  in_flight)

Definition at line 271 of file guidance_v.c.

References gv_adapt_init().

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◆ guidance_v_read_rc()

◆ guidance_v_run()

◆ guidance_v_set_guided_th()

bool guidance_v_set_guided_th ( float  th)

◆ guidance_v_set_guided_vz()

bool guidance_v_set_guided_vz ( float  vz)

Set z velocity setpoint in GUIDED mode.

Parameters
vzSetpoint (down is positive) in meters/second.
Returns
TRUE if setpoint was set (currently in GUIDANCE_V_MODE_GUIDED)

Definition at line 568 of file guidance_v.c.

References guidance_v_guided_mode, GUIDANCE_V_GUIDED_MODE_CLIMB, guidance_v_mode, GUIDANCE_V_MODE_GUIDED, guidance_v_zd_sp, and SPEED_BFP_OF_REAL.

Referenced by autopilot_guided_move_ned(), and autopilot_guided_update().

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◆ guidance_v_set_guided_z()

bool guidance_v_set_guided_z ( float  z)

Set z setpoint in GUIDED mode.

Parameters
zSetpoint (down is positive) in meters.
Returns
TRUE if setpoint was set (currently in GUIDANCE_V_MODE_GUIDED)

Definition at line 551 of file guidance_v.c.

References guidance_v_guided_mode, GUIDANCE_V_GUIDED_MODE_ZHOLD, guidance_v_mode, GUIDANCE_V_MODE_GUIDED, guidance_v_z_sp, guidance_v_zd_sp, and POS_BFP_OF_REAL.

Referenced by autopilot_guided_goto_ned(), and autopilot_guided_update().

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◆ guidance_v_set_ref()

void guidance_v_set_ref ( int32_t  pos,
int32_t  speed,
int32_t  accel 
)

Set guidance ref parameters.

Definition at line 372 of file guidance_v.c.

References guidance_v_z_ref, guidance_v_zd_ref, guidance_v_zdd_ref, and gv_set_ref().

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◆ guidance_v_thrust_adapt()

void guidance_v_thrust_adapt ( bool  in_flight)

Definition at line 278 of file guidance_v.c.

References desired_zd_updated, get_vertical_thrust_coeff(), guidance_v_thrust_coeff, guidance_v_zd_ref, gv_adapt_init(), gv_adapt_run(), INT32_TRIG_FRAC, stabilization_cmd, and stateGetAccelNed_i().

Referenced by guidance_v_run().

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◆ guidance_v_z_enter()

void guidance_v_z_enter ( void  )

Definition at line 359 of file guidance_v.c.

References guidance_v_z_sp, guidance_v_z_sum_err, guidance_v_zd_sp, GuidanceVSetRef, stateGetPositionNed_i(), and NedCoor_i::z.

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◆ run_hover_loop()

Variable Documentation

◆ guidance_v_adapt_throttle_enabled

bool guidance_v_adapt_throttle_enabled

Use adaptive throttle command estimation.

Definition at line 109 of file guidance_v.c.

Referenced by guidance_v_init(), and run_hover_loop().

◆ guidance_v_delta_t

int32_t guidance_v_delta_t

thrust command.

summation of feed-forward and feed-back commands, valid range 0 : MAX_PPRZ

Definition at line 106 of file guidance_v.c.

Referenced by guidance_hybrid_vertical(), guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_run(), run_hover_loop(), and send_vert_loop().

◆ guidance_v_fb_cmd

int32_t guidance_v_fb_cmd

feed-back command

Definition at line 105 of file guidance_v.c.

Referenced by run_hover_loop(), and send_vert_loop().

◆ guidance_v_ff_cmd

int32_t guidance_v_ff_cmd

feed-forward command

Definition at line 104 of file guidance_v.c.

Referenced by run_hover_loop(), and send_vert_loop().

◆ guidance_v_kd

int32_t guidance_v_kd

vertical control D-gain

Definition at line 137 of file guidance_v.c.

Referenced by guidance_hybrid_vertical(), guidance_v_init(), and run_hover_loop().

◆ guidance_v_ki

int32_t guidance_v_ki

vertical control I-gain

Definition at line 138 of file guidance_v.c.

Referenced by guidance_hybrid_vertical(), guidance_v_init(), and run_hover_loop().

◆ guidance_v_kp

int32_t guidance_v_kp

vertical control P-gain

Definition at line 136 of file guidance_v.c.

Referenced by guidance_hybrid_vertical(), guidance_v_init(), and run_hover_loop().

◆ guidance_v_mode

◆ guidance_v_nominal_throttle

float guidance_v_nominal_throttle

nominal throttle for hover.

This is only used if GUIDANCE_V_NOMINAL_HOVER_THROTTLE is defined! Unit: factor of MAX_PPRZ with range 0.1 : 0.9

Definition at line 108 of file guidance_v.c.

Referenced by guidance_hybrid_vertical(), guidance_v_init(), run_hover_loop(), and vertical_ctrl_module_init().

◆ guidance_v_rc_delta_t

int32_t guidance_v_rc_delta_t

Direct throttle from radio control.

range 0:MAX_PPRZ

Definition at line 121 of file guidance_v.c.

Referenced by guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_read_rc(), and guidance_v_run().

◆ guidance_v_thrust_coeff

int32_t guidance_v_thrust_coeff

◆ guidance_v_z_ref

int32_t guidance_v_z_ref

altitude reference in meters.

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 132 of file guidance_v.c.

Referenced by gps_sim_hitl_event(), guidance_indi_run(), guidance_v_set_ref(), run_hover_loop(), send_tune_vert(), and send_vert_loop().

◆ guidance_v_z_sp

int32_t guidance_v_z_sp

altitude setpoint in meters (input).

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 129 of file guidance_v.c.

Referenced by guidance_v_from_nav(), guidance_v_guided_enter(), guidance_v_guided_run(), guidance_v_run(), guidance_v_set_guided_z(), guidance_v_z_enter(), send_fp(), send_tune_vert(), and send_vert_loop().

◆ guidance_v_z_sum_err

int32_t guidance_v_z_sum_err

◆ guidance_v_zd_ref

int32_t guidance_v_zd_ref

vertical speed reference in meter/s.

fixed point representation: Q12.19 accuracy 0.0000038, range 4096

Definition at line 133 of file guidance_v.c.

Referenced by gps_sim_hitl_event(), guidance_indi_run(), guidance_v_set_ref(), guidance_v_thrust_adapt(), run_hover_loop(), send_tune_vert(), and send_vert_loop().

◆ guidance_v_zd_sp

int32_t guidance_v_zd_sp

◆ guidance_v_zdd_ref

int32_t guidance_v_zdd_ref

vertical acceleration reference in meter/s^2.

fixed point representation: Q21.10 accuracy 0.0009766, range 2097152

Definition at line 134 of file guidance_v.c.

Referenced by gps_sim_hitl_event(), guidance_indi_run(), guidance_v_set_ref(), run_hover_loop(), and send_vert_loop().