Adaptation block of the vertical guidance. More...

#include "std.h"

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Macros
#define	GV_ADAPT_X_FRAC 24

#define	GV_ADAPT_P_FRAC 18

Functions
void	gv_adapt_init (void)

void	gv_adapt_run (int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref)
	Adaptation function. More...

Variables
int32_t	gv_adapt_X
	State of the estimator. More...

int32_t	gv_adapt_P
	Covariance. More...

int32_t	gv_adapt_Xmeas
	Measurement. More...

Detailed Description

Adaptation block of the vertical guidance.

This is a dimension one kalman filter estimating the ratio of vertical acceleration over thrust command ( ~ inverse of the mass ) needed by the invert dynamic model to produce a nominal command.

Definition in file guidance_v_adapt.h.

Macro Definition Documentation

#define GV_ADAPT_P_FRAC 18

Definition at line 47 of file guidance_v_adapt.h.

Referenced by gv_adapt_run().

#define GV_ADAPT_X_FRAC 24

Definition at line 40 of file guidance_v_adapt.h.

Referenced by gv_adapt_run(), and run_hover_loop().

Function Documentation

void gv_adapt_init ( void )

Definition at line 115 of file guidance_v_adapt.c.

References gv_adapt_P0, and gv_adapt_X0.

Referenced by guidance_v_init(), guidance_v_notify_in_flight(), and guidance_v_run().

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void gv_adapt_run	(	int32_t	zdd_meas,
		int32_t	thrust_applied,
		int32_t	zd_ref
	)

Adaptation function.

Parameters

zdd_meas	vert accel measurement in m/s^2 with INT32_ACCEL_FRAC
thrust_applied	controller input [0 : MAX_PPRZ]
zd_ref	vertical speed reference in m/s with INT32_SPEED_FRAC

Definition at line 128 of file guidance_v_adapt.c.

References ACCEL_BFP_OF_REAL, BFP_OF_REAL, E, GUIDANCE_V_ADAPT_MAX_ACCEL, GUIDANCE_V_ADAPT_MAX_CMD, GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE, GUIDANCE_V_ADAPT_MIN_CMD, GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE, GV_ADAPT_MEAS_NOISE_HOVER, GV_ADAPT_MEAS_NOISE_OF_ZD, gv_adapt_P, gv_adapt_P0, GV_ADAPT_P_FRAC, GV_ADAPT_SYS_NOISE, gv_adapt_X, GV_ADAPT_X_FRAC, INT32_ACCEL_FRAC, INT32_SPEED_FRAC, K_FRAC, MAX_PPRZ, and ref.