Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
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guidance_v.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
27 #ifndef GUIDANCE_V_H
28 #define GUIDANCE_V_H
29 
30 #include "std.h"
31 
34 
35 #define GUIDANCE_V_MODE_KILL 0
36 #define GUIDANCE_V_MODE_RC_DIRECT 1
37 #define GUIDANCE_V_MODE_RC_CLIMB 2
38 #define GUIDANCE_V_MODE_CLIMB 3
39 #define GUIDANCE_V_MODE_HOVER 4
40 #define GUIDANCE_V_MODE_NAV 5
41 #define GUIDANCE_V_MODE_MODULE 6
42 #define GUIDANCE_V_MODE_FLIP 7
43 #define GUIDANCE_V_MODE_GUIDED 8
44 
46 
52 
58 
64 
70 
76 
80 
86 
91 extern float guidance_v_nominal_throttle;
92 
96 
98 
100 
101 extern int32_t guidance_v_kp;
102 extern int32_t guidance_v_kd;
103 extern int32_t guidance_v_ki;
104 
105 extern void guidance_v_init(void);
106 extern void guidance_v_read_rc(void);
107 extern void guidance_v_mode_changed(uint8_t new_mode);
108 extern void guidance_v_notify_in_flight(bool in_flight);
109 extern void guidance_v_run(bool in_flight);
110 
115 extern bool guidance_v_set_guided_z(float z);
116 
121 extern bool guidance_v_set_guided_vz(float vz);
122 
123 #define guidance_v_SetKi(_val) { \
124  guidance_v_ki = _val; \
125  guidance_v_z_sum_err = 0; \
126  }
127 
128 #endif /* GUIDANCE_V_H */
bool guidance_v_guided_vel_enabled
Definition: guidance_v.c:106
void guidance_v_notify_in_flight(bool in_flight)
Definition: guidance_v.c:275
Adaptation block of the vertical guidance.
int32_t guidance_v_fb_cmd
feed-back command
Definition: guidance_v.c:101
int32_t guidance_v_kd
vertical control D-gain
Definition: guidance_v.c:126
int32_t guidance_v_zdd_ref
vertical acceleration reference in meter/s^2.
Definition: guidance_v.c:123
void guidance_v_read_rc(void)
Definition: guidance_v.c:203
int32_t guidance_v_z_sp
altitude setpoint in meters (input).
Definition: guidance_v.c:119
uint8_t guidance_v_mode
Definition: guidance_v.c:99
void guidance_v_init(void)
Definition: guidance_v.c:175
int32_t guidance_v_zd_sp
vertical speed setpoint in meter/s (input).
Definition: guidance_v.c:120
void guidance_v_mode_changed(uint8_t new_mode)
Definition: guidance_v.c:225
int32_t guidance_v_z_sum_err
accumulator for I-gain
Definition: guidance_v.c:129
bool guidance_v_adapt_throttle_enabled
Use adaptive throttle command estimation.
Definition: guidance_v.c:105
signed long int32_t
Definition: types.h:19
float guidance_v_nominal_throttle
nominal throttle for hover.
Definition: guidance_v.c:104
int32_t guidance_v_zd_ref
vertical speed reference in meter/s.
Definition: guidance_v.c:122
void guidance_v_run(bool in_flight)
Definition: guidance_v.c:283
unsigned char uint8_t
Definition: types.h:14
int32_t guidance_v_ff_cmd
feed-forward command
Definition: guidance_v.c:100
Reference generation for vertical guidance.
int32_t guidance_v_delta_t
thrust command.
Definition: guidance_v.c:102
int32_t guidance_v_kp
vertical control P-gain
Definition: guidance_v.c:125
int32_t guidance_v_thrust_coeff
Definition: guidance_v.c:131
int32_t guidance_v_ki
vertical control I-gain
Definition: guidance_v.c:127
bool guidance_v_set_guided_vz(float vz)
Set z velocity setpoint in GUIDED mode.
Definition: guidance_v.c:491
bool guidance_v_set_guided_z(float z)
Set z setpoint in GUIDED mode.
Definition: guidance_v.c:481
int32_t guidance_v_z_ref
altitude reference in meters.
Definition: guidance_v.c:121