Guidance controllers (horizontal and vertical) for Hybrid UAV configurations. More...

#include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "subsystems/radio_control.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for guidance_hybrid.c:

Go to the source code of this file.

Macros
#define	MAX_AIRSPEED 15

#define	INT32_ANGLE_HIGH_RES_FRAC 18

#define	INT32_ANGLE_HIGH_RES_NORMALIZE(_a)

Functions
static void	send_hybrid_guidance (struct transport_tx trans, struct link_device dev)

void	guidance_hybrid_init (void)
	Hybrid Guidance Initialization function. More...

void	guidance_hybrid_run (void)
	Runs the Hybrid Guidance main functions. More...

void	guidance_hybrid_reset_heading (struct Int32Eulers *sp_cmd)
	Description. More...

void	guidance_hybrid_airspeed_to_attitude (struct Int32Eulers *ypr_sp)
	Convert a required airspeed to a certain attitude for the Quadshot. More...

void	guidance_hybrid_position_to_airspeed (void)
	Description. More...

void	guidance_hybrid_determine_wind_estimate (void)
	Description. More...

void	guidance_hybrid_set_cmd_i (struct Int32Eulers *sp_cmd)
	Creates the attitude set-points from an orientation vector. More...

void	guidance_hybrid_vertical (void)
	Description. More...

Variables
int32_t	guidance_hybrid_norm_ref_airspeed

float	alt_pitch_gain = 0.3

int32_t	max_airspeed = MAX_AIRSPEED

int32_t	wind_gain

int32_t	horizontal_speed_gain

float	max_turn_bank

float	turn_bank_gain

static struct Int32Eulers	guidance_hybrid_ypr_sp

static struct Int32Vect2	guidance_hybrid_airspeed_sp

static struct Int32Vect2	guidance_h_pos_err

static struct Int32Vect2	guidance_hybrid_airspeed_ref

static struct Int32Vect2	wind_estimate

static struct Int32Vect2	wind_estimate_high_res

static struct Int32Vect2	guidance_hybrid_ref_airspeed

static int32_t	norm_sp_airspeed_disp

static int32_t	heading_diff_disp

static int32_t	omega_disp

static int32_t	high_res_psi

static int32_t	airspeed_sp_heading_disp

static bool	guidance_hovering

static bool	force_forward_flight

static int32_t	v_control_pitch

Detailed Description

Guidance controllers (horizontal and vertical) for Hybrid UAV configurations.

Functionality: 1) hover with (helicopter) thrust vectoring and align the heading with the wind vector. 2) Forward flight with using pitch and a bit of thrust to control altitude and heading to control the velocity vector 3) Transition between the two, with the possibility to fly at any airspeed

Definition in file guidance_hybrid.c.

Macro Definition Documentation

#define INT32_ANGLE_HIGH_RES_FRAC 18

Definition at line 46 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_reset_heading().

#define INT32_ANGLE_HIGH_RES_NORMALIZE ( _a )

Value:

{             \
    while ((_a) > (INT32_ANGLE_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC)))  (_a) -= (INT32_ANGLE_2_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC));    \
    while ((_a) < (-INT32_ANGLE_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC))) (_a) += (INT32_ANGLE_2_PI << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC));    \
  }