guidance_indi.h File Reference

A guidance mode based on Incremental Nonlinear Dynamic Inversion. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"

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Functions
void	guidance_indi_enter (void)
	Call upon entering indi guidance. More...
void	guidance_indi_run (float heading_sp)
void	stabilization_attitude_set_setpoint_rp_quat_f (struct FloatEulers *indi_rp_cmd, bool in_flight, float heading)
void	guidance_indi_init (void)
	Init function. More...

Variables
float	guidance_indi_thrust_specific_force_gain
float	guidance_indi_pos_gain
float	guidance_indi_speed_gain
float	guidance_indi_max_bank

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion.

Definition in file guidance_indi.h.

Function Documentation

void guidance_indi_enter

(

void

)

Call upon entering indi guidance.

Definition at line 134 of file guidance_indi.c.

References filter_cutoff, init_butterworth_2_low_pass(), FloatEulers::phi, stabilization_cmd, stateGetNedToBodyEulers_f(), FloatEulers::theta, thrust_act, and thrust_in.

Referenced by guidance_h_mode_changed().

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void guidance_indi_init

(

void

)

Init function.

Definition at line 125 of file guidance_indi.c.

References accel_sp_cb(), and GUIDANCE_INDI_ACCEL_SP_ID.

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void guidance_indi_run

(

float

heading_sp

)

Parameters

heading_sp

the desired heading [rad]

main indi guidance function

Definition at line 154 of file guidance_indi.c.

References control_increment, float_eulers_of_quat_yxz(), float_quat_of_eulers_yxz(), Ga, Ga_inv, get_sys_time_float(), guidance_euler_cmd, guidance_h, guidance_indi_calcG_yxz(), guidance_indi_max_bank, guidance_indi_pos_gain, guidance_indi_propagate_filters(), guidance_indi_speed_gain, guidance_v_z_ref, indi_accel_sp_set_2d, indi_accel_sp_set_3d, MAT33_INV, MAT33_VECT3_MUL, SecondOrderLowPass::o, FloatEulers::phi, HorizontalGuidanceReference::pos, POS_FLOAT_OF_BFP, FloatEulers::psi, QUAT_BFP_OF_REAL, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, HorizontalGuidance::ref, stab_att_sp_quat, stabilization_cmd, stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetSpeedNed_f(), FloatEulers::theta, thrust_in, THRUST_INCREMENT_ID, time_of_accel_sp_2d, time_of_accel_sp_3d, RadioControl::values, FloatVect3::x, NedCoor_f::x, Int32Vect2::x, FloatVect3::y, NedCoor_f::y, Int32Vect2::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_h_from_nav(), and guidance_h_guided_run().

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void stabilization_attitude_set_setpoint_rp_quat_f	(	struct FloatEulers *	indi_rp_cmd,
		bool	in_flight,
		float	heading
	)

Variable Documentation

float guidance_indi_max_bank

Definition at line 110 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_pos_gain

Definition at line 58 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_speed_gain

Definition at line 64 of file guidance_indi.c.

Referenced by guidance_indi_run().

float guidance_indi_thrust_specific_force_gain