energy_ctrl.h File Reference

Vertical control using total energy control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/guidance_common.h"

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Macros
#define	V_CTL_SPEED_THROTTLE   0
#define	V_CTL_SPEED_AIRSPEED   1
#define	V_CTL_SPEED_GROUNDSPEED   2

Variables
uint8_t	v_ctl_speed_mode
float	v_ctl_altitude_setpoint
	in meters above MSL More...
float	v_ctl_altitude_pre_climb
	Path Angle. More...
float	v_ctl_altitude_pgain
float	v_ctl_airspeed_pgain
float	v_ctl_auto_airspeed_setpoint
	in meters per second More...
float	v_ctl_max_climb
float	v_ctl_max_acceleration
float	v_ctl_desired_acceleration
float	v_ctl_auto_throttle_nominal_cruise_throttle
float	v_ctl_auto_throttle_nominal_cruise_pitch
float	v_ctl_auto_throttle_climb_throttle_increment
float	v_ctl_auto_throttle_pitch_of_vz_pgain
float	v_ctl_auto_throttle_of_airspeed_pgain
float	v_ctl_auto_throttle_of_airspeed_igain
float	v_ctl_auto_pitch_of_airspeed_pgain
float	v_ctl_auto_pitch_of_airspeed_igain
float	v_ctl_auto_pitch_of_airspeed_dgain
float	v_ctl_energy_total_pgain
float	v_ctl_energy_total_igain
float	v_ctl_energy_diff_pgain
float	v_ctl_energy_diff_igain
float	v_ctl_auto_groundspeed_pgain
float	v_ctl_auto_groundspeed_igain
float	v_ctl_auto_groundspeed_sum_err
float	ac_char_climb_pitch
float	ac_char_climb_max
float	ac_char_descend_pitch
float	ac_char_descend_max
float	ac_char_cruise_throttle
float	ac_char_cruise_pitch

Detailed Description

Vertical control using total energy control for fixed wing vehicles.

Definition in file energy_ctrl.h.

Macro Definition Documentation

#define V_CTL_SPEED_AIRSPEED   1

Definition at line 37 of file energy_ctrl.h.

Referenced by v_ctl_climb_loop().

#define V_CTL_SPEED_GROUNDSPEED   2

Definition at line 38 of file energy_ctrl.h.

Referenced by v_ctl_climb_loop().

#define V_CTL_SPEED_THROTTLE   0

Definition at line 36 of file energy_ctrl.h.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

Variable Documentation

float ac_char_climb_max

Definition at line 171 of file energy_ctrl.c.

float ac_char_climb_pitch

Definition at line 170 of file energy_ctrl.c.

float ac_char_cruise_pitch

Definition at line 177 of file energy_ctrl.c.

float ac_char_cruise_throttle

Definition at line 176 of file energy_ctrl.c.

float ac_char_descend_max

Definition at line 174 of file energy_ctrl.c.

float ac_char_descend_pitch

Definition at line 173 of file energy_ctrl.c.

float v_ctl_airspeed_pgain

Definition at line 91 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_altitude_pgain

Definition at line 90 of file energy_ctrl.c.

float v_ctl_altitude_pre_climb

Path Angle.

Definition at line 89 of file energy_ctrl.c.

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 88 of file energy_ctrl.c.

float v_ctl_auto_airspeed_setpoint

in meters per second

Definition at line 121 of file energy_ctrl.c.

Referenced by flight_benchmark_periodic(), gls_run(), send_airspeed(), send_desired(), v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_igain

Definition at line 127 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_pgain

Definition at line 126 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_sum_err

Definition at line 128 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_dgain

Definition at line 113 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_igain

Definition at line 112 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_pgain

Definition at line 111 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 106 of file energy_ctrl.c.

float v_ctl_auto_throttle_nominal_cruise_pitch

Definition at line 105 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 104 of file energy_ctrl.c.

float v_ctl_auto_throttle_of_airspeed_igain

Definition at line 110 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_of_airspeed_pgain

Definition at line 109 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 107 of file energy_ctrl.c.

float v_ctl_desired_acceleration

Definition at line 101 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

float v_ctl_energy_diff_igain

Definition at line 119 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_diff_pgain

Definition at line 118 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_igain

Definition at line 116 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_pgain

Definition at line 115 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_max_acceleration

Definition at line 95 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_max_climb

Definition at line 94 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

uint8_t v_ctl_speed_mode

Definition at line 135 of file energy_ctrl.c.