29 #include "generated/airframe.h"
35 #ifndef VERTICAL_CTRL_MODULE_AGL_ID
36 #define VERTICAL_CTRL_MODULE_AGL_ID ABI_BROADCAST
40 #ifndef VERTICAL_CTRL_MODULE_PGAIN
41 #define VERTICAL_CTRL_MODULE_PGAIN 1.0
44 #ifndef VERTICAL_CTRL_MODULE_IGAIN
45 #define VERTICAL_CTRL_MODULE_IGAIN 0.01
Main include for ABI (AirBorneInterface).
Event structure to store callbacks in a linked list.
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
General stabilization interface for rotorcrafts.
void vertical_ctrl_module_init(void)
void guidance_v_module_enter(void)
Entering the vertical module (user switched to module)
void guidance_v_module_run(bool in_flight)
static void vertical_ctrl_agl_cb(uint8_t sender_id, uint32_t stamp, float distance)
Callback function of the ground altitude.
void guidance_v_module_init(void)
#define VERTICAL_CTRL_MODULE_IGAIN
void vertical_ctrl_module_run(bool in_flight)
struct VerticalCtrlDemo v_ctrl
#define VERTICAL_CTRL_MODULE_AGL_ID
static abi_event agl_ev
The altitude ABI event.
#define VERTICAL_CTRL_MODULE_PGAIN
int int32_t
Typedef defining 32 bit int type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.