stabilization_attitude.h File Reference

Fixed wing horizontal control. More...

#include <inttypes.h>
#include "std.h"
#include "paparazzi.h"
#include "generated/airframe.h"

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Functions
void	h_ctl_init (void)
void	h_ctl_course_loop (void)
void	h_ctl_attitude_loop (void)

Variables
float	h_ctl_course_setpoint
float	h_ctl_course_pre_bank
float	h_ctl_course_pre_bank_correction
float	h_ctl_course_pgain
float	h_ctl_course_dgain
float	h_ctl_roll_max_setpoint
bool	h_ctl_disabled
bool	h_ctl_auto1_rate
float	h_ctl_roll_setpoint
float	h_ctl_roll_pgain
pprz_t	h_ctl_aileron_setpoint
float	h_ctl_roll_slew
float	h_ctl_pitch_setpoint
float	h_ctl_pitch_loop_setpoint
float	h_ctl_pitch_pgain
float	h_ctl_pitch_dgain
pprz_t	h_ctl_elevator_setpoint
float	h_ctl_aileron_of_throttle
float	h_ctl_elevator_of_roll
float	h_ctl_roll_attitude_gain
float	h_ctl_roll_rate_gain

Detailed Description

Fixed wing horizontal control.

Definition in file stabilization_attitude.h.

Function Documentation

void h_ctl_attitude_loop

(

void

)

Definition at line 413 of file stabilization_adaptive.c.

References h_ctl_disabled, h_ctl_pitch_loop(), and h_ctl_roll_loop().

Referenced by attitude_loop().

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void h_ctl_course_loop

(

void

)

Definition at line 374 of file stabilization_adaptive.c.

References autopilot, h_ctl_course_dgain, h_ctl_course_pgain, h_ctl_course_pre_bank, h_ctl_course_pre_bank_correction, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, h_ctl_roll_slew, pprz_autopilot::launch, Max, Min, FloatEulers::psi, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), v_ctl_altitude_error, V_CTL_AUTO_THROTTLE_AGRESSIVE, V_CTL_AUTO_THROTTLE_BLENDED, and v_ctl_auto_throttle_submode.

Referenced by h_ctl_guidance_loop(), and navigation_task().

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void h_ctl_init

(

void

)

Definition at line 298 of file stabilization_adaptive.c.

References DefaultPeriodic, h_ctl_aileron_of_throttle, h_ctl_aileron_setpoint, h_ctl_course_dgain, H_CTL_COURSE_DGAIN, h_ctl_course_pgain, h_ctl_course_pre_bank, h_ctl_course_pre_bank_correction, H_CTL_COURSE_PRE_BANK_CORRECTION, h_ctl_course_setpoint, h_ctl_disabled, h_ctl_elevator_of_roll, h_ctl_elevator_setpoint, h_ctl_pitch_dgain, H_CTL_PITCH_DGAIN, H_CTL_PITCH_IGAIN, H_CTL_PITCH_KFFA, H_CTL_PITCH_KFFD, h_ctl_pitch_loop_setpoint, h_ctl_pitch_pgain, h_ctl_pitch_setpoint, h_ctl_ref, H_CTL_REF_MAX_P, H_CTL_REF_MAX_P_DOT, H_CTL_REF_MAX_Q, H_CTL_REF_MAX_Q_DOT, h_ctl_roll_attitude_gain, H_CTL_ROLL_IGAIN, H_CTL_ROLL_KFFA, H_CTL_ROLL_KFFD, h_ctl_roll_max_setpoint, h_ctl_roll_pgain, h_ctl_roll_rate_gain, H_CTL_ROLL_RATE_GAIN, h_ctl_roll_setpoint, h_ctl_roll_slew, HCtlAdaptRef::max_p, HCtlAdaptRef::max_p_dot, HCtlAdaptRef::max_q, HCtlAdaptRef::max_q_dot, register_periodic_telemetry(), send_calibration(), send_ctl_a(), and send_tune_roll().

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Variable Documentation

float h_ctl_aileron_of_throttle

Definition at line 195 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

pprz_t h_ctl_aileron_setpoint

Definition at line 164 of file stabilization_adaptive.c.

Referenced by attitude_loop(), file_logger_periodic(), h_ctl_init(), and h_ctl_roll_loop().

bool h_ctl_auto1_rate

Definition at line 91 of file stabilization_adaptive.c.

Referenced by h_ctl_roll_loop(), and navigation_task().

float h_ctl_course_dgain

Definition at line 84 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pgain

Definition at line 83 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pre_bank

Definition at line 81 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), h_ctl_init(), and nav_periodic_task().

float h_ctl_course_pre_bank_correction

Definition at line 82 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_setpoint

Definition at line 80 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), h_ctl_course_loop(), h_ctl_init(), and send_desired().

bool h_ctl_disabled

Definition at line 88 of file stabilization_adaptive.c.

Referenced by h_ctl_attitude_loop(), and h_ctl_init().

float h_ctl_elevator_of_roll

Definition at line 196 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

pprz_t h_ctl_elevator_setpoint

Definition at line 178 of file stabilization_adaptive.c.

Referenced by attitude_loop(), file_logger_periodic(), h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_dgain

Definition at line 173 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_loop_setpoint

Definition at line 171 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), h_ctl_pitch_loop(), and send_desired().

float h_ctl_pitch_pgain

Definition at line 172 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_setpoint

Definition at line 170 of file stabilization_adaptive.c.

Referenced by attitude_loop(), autopilot_static_on_rc_frame(), h_ctl_guidance_loop(), h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_roll_attitude_gain

Definition at line 158 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

float h_ctl_roll_max_setpoint

Definition at line 85 of file stabilization_adaptive.c.

Referenced by fly_to_xy(), gvf_control_2D(), h_ctl_course_loop(), and h_ctl_init().

float h_ctl_roll_pgain

Definition at line 167 of file stabilization_adaptive.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_rate_gain

Definition at line 159 of file stabilization_adaptive.c.

Referenced by h_ctl_init().

float h_ctl_roll_setpoint

Definition at line 157 of file stabilization_adaptive.c.

Referenced by autopilot_static_on_rc_frame(), fly_to_xy(), gvf_control_2D(), h_ctl_course_loop(), h_ctl_init(), h_ctl_roll_loop(), nav_without_gps(), send_desired(), and v_ctl_landing_loop().

float h_ctl_roll_slew

Definition at line 165 of file stabilization_adaptive.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().