guidance_hybrid.h File Reference

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

#include "math/pprz_algebra_int.h"

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Functions
void	guidance_hybrid_run (void)
	Runs the Hybrid Guidance main functions. More...
void	guidance_hybrid_init (void)
	Hybrid Guidance Initialization function. More...
void	guidance_hybrid_set_cmd_i (struct Int32Eulers *sp_cmd)
	Creates the attitude set-points from an orientation vector. More...
void	guidance_hybrid_airspeed_to_attitude (struct Int32Eulers *ypr_sp)
	Convert a required airspeed to a certain attitude for the Hybrid. More...
void	guidance_hybrid_position_to_airspeed (void)
	Description. More...
void	guidance_hybrid_determine_wind_estimate (void)
	Description. More...
void	guidance_hybrid_reset_heading (struct Int32Eulers *sp_cmd)
	Description. More...
void	guidance_hybrid_vertical (void)
	Description. More...

Variables
int32_t	guidance_hybrid_norm_ref_airspeed
float	alt_pitch_gain
int32_t	max_airspeed
int32_t	wind_gain
int32_t	horizontal_speed_gain
float	max_turn_bank
float	turn_bank_gain
bool	force_forward_flight

Detailed Description

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

Definition in file guidance_hybrid.h.

Function Documentation

void guidance_hybrid_airspeed_to_attitude

(

struct Int32Eulers *

ypr_sp

)

Convert a required airspeed to a certain attitude for the Hybrid.

Parameters

ypr_sp

Attitude set-point

Convert a required airspeed to a certain attitude for the Hybrid.

if required speed is lower than 4 m/s act like a rotorcraft

if required speed is higher than 4 m/s act like a fixedwing

Definition at line 145 of file guidance_hybrid.c.

References airspeed_sp_heading_disp, ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, FLOAT_ANGLE_NORMALIZE, guidance_hybrid_airspeed_sp, guidance_hybrid_norm_ref_airspeed, guidance_hybrid_ref_airspeed, heading_diff_disp, high_res_psi, INT32_ANGLE_FRAC, INT32_ANGLE_HIGH_RES_FRAC, INT32_ANGLE_HIGH_RES_NORMALIZE, INT32_ANGLE_PI, INT32_POS_FRAC, INT32_TRIG_FRAC, int32_vect2_norm(), max_turn_bank, norm_sp_airspeed_disp, omega_disp, Int32Eulers::phi, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Eulers::theta, turn_bank_gain, v_control_pitch, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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void guidance_hybrid_determine_wind_estimate

(

void

)

Description.

Definition at line 332 of file guidance_hybrid.c.

References guidance_hybrid_ref_airspeed, INT32_VECT2_RSHIFT, stateGetSpeedNed_i(), VECT2_DIFF, wind_estimate, wind_estimate_high_res, wind_gain, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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void guidance_hybrid_init

(

void

)

Hybrid Guidance Initialization function.

Parameters

Definition at line 99 of file guidance_hybrid.c.

References DefaultPeriodic, force_forward_flight, guidance_hovering, guidance_hybrid_airspeed_ref, guidance_hybrid_airspeed_sp, guidance_hybrid_norm_ref_airspeed, guidance_hybrid_ref_airspeed, guidance_hybrid_ypr_sp, high_res_psi, horizontal_speed_gain, INT_EULERS_ZERO, INT_VECT2_ZERO, max_turn_bank, register_periodic_telemetry(), send_hybrid_guidance(), turn_bank_gain, wind_estimate, wind_estimate_high_res, and wind_gain.

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void guidance_hybrid_position_to_airspeed

(

void

)

Description.

Definition at line 264 of file guidance_hybrid.c.

References force_forward_flight, guidance_h, guidance_h_pos_err, guidance_hybrid_airspeed_sp, guidance_hybrid_ypr_sp, horizontal_speed_gain, INT32_TRIG_FRAC, int32_vect2_norm(), INT_MULT_RSHIFT, INT_VECT2_ZERO, max_airspeed, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, HorizontalGuidance::sp, stateGetPositionNed_i(), VECT2_ADD, VECT2_DIFF, VECT2_SDIV, wind_estimate, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_hybrid_run().

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void guidance_hybrid_reset_heading

(

struct Int32Eulers *

sp_cmd

)

Description.

Parameters

sp_cmd

Add Description

Definition at line 137 of file guidance_hybrid.c.

References guidance_hybrid_ypr_sp, high_res_psi, INT32_ANGLE_FRAC, INT32_ANGLE_HIGH_RES_FRAC, Int32Eulers::psi, and stabilization_attitude_set_rpy_setpoint_i().

Referenced by guidance_h_from_nav().

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void guidance_hybrid_run

(

void

)

Runs the Hybrid Guidance main functions.

Definition at line 129 of file guidance_hybrid.c.

References guidance_hybrid_airspeed_to_attitude(), guidance_hybrid_determine_wind_estimate(), guidance_hybrid_position_to_airspeed(), guidance_hybrid_set_cmd_i(), and guidance_hybrid_ypr_sp.

Referenced by guidance_h_from_nav().

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void guidance_hybrid_set_cmd_i

(

struct Int32Eulers *

sp_cmd

)

Creates the attitude set-points from an orientation vector.

Parameters

sp_cmd

The orientation vector

Todo:

calc sp_quat in fixed-point

Definition at line 350 of file guidance_hybrid.c.

References ANGLE_FLOAT_OF_BFP, float_quat_of_orientation_vect(), int32_eulers_of_quat(), int32_quat_comp(), int32_quat_of_axis_angle(), Int32Eulers::phi, Int32Eulers::psi, QUAT_BFP_OF_REAL, stab_att_sp_euler, stab_att_sp_quat, Int32Eulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_hybrid_run().

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void guidance_hybrid_vertical

(

void

)

Description.

Definition at line 378 of file guidance_hybrid.c.

References alt_pitch_gain, ANGLE_BFP_OF_REAL, guidance_hybrid_norm_ref_airspeed, guidance_v_delta_t, guidance_v_kd, guidance_v_ki, guidance_v_kp, guidance_v_nominal_throttle, INT_MULT_RSHIFT, MAX_PPRZ, stabilization_cmd, and v_control_pitch.

Referenced by guidance_v_from_nav().

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Variable Documentation

float alt_pitch_gain

Definition at line 50 of file guidance_hybrid.c.

Referenced by guidance_hybrid_vertical().

bool force_forward_flight

Definition at line 72 of file guidance_hybrid.c.

Referenced by guidance_hybrid_init(), and guidance_hybrid_position_to_airspeed().

int32_t guidance_hybrid_norm_ref_airspeed

Definition at line 49 of file guidance_hybrid.c.

Referenced by guidance_h_mode_changed(), guidance_hybrid_airspeed_to_attitude(), guidance_hybrid_init(), guidance_hybrid_vertical(), and send_hybrid_guidance().

int32_t horizontal_speed_gain

Definition at line 53 of file guidance_hybrid.c.

Referenced by guidance_hybrid_init(), and guidance_hybrid_position_to_airspeed().

int32_t max_airspeed

Definition at line 51 of file guidance_hybrid.c.

Referenced by guidance_hybrid_position_to_airspeed().

float max_turn_bank

Definition at line 54 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_init().

float turn_bank_gain

Definition at line 55 of file guidance_hybrid.c.

Referenced by guidance_hybrid_airspeed_to_attitude(), and guidance_hybrid_init().

int32_t wind_gain

Definition at line 52 of file guidance_hybrid.c.

Referenced by guidance_hybrid_determine_wind_estimate(), and guidance_hybrid_init().