guidance_h.h File Reference

Horizontal guidance for rotorcrafts. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "firmwares/rotorcraft/guidance/guidance_h_ref.h"
#include "generated/airframe.h"
#include "std.h"

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Data Structures
struct	HorizontalGuidanceSetpoint
struct	HorizontalGuidanceReference
struct	HorizontalGuidanceGains
struct	HorizontalGuidance

Macros
#define	GUIDANCE_H_USE_REF   TRUE
	Use horizontal guidance reference trajectory. More...
#define	GUIDANCE_H_USE_SPEED_REF   TRUE
	Use horizontal guidance speed reference. More...
#define	GUIDANCE_H_MODE_KILL   0
#define	GUIDANCE_H_MODE_RATE   1
#define	GUIDANCE_H_MODE_ATTITUDE   2
#define	GUIDANCE_H_MODE_HOVER   3
#define	GUIDANCE_H_MODE_NAV   4
#define	GUIDANCE_H_MODE_RC_DIRECT   5
#define	GUIDANCE_H_MODE_CARE_FREE   6
#define	GUIDANCE_H_MODE_FORWARD   7
#define	GUIDANCE_H_MODE_MODULE   8
#define	GUIDANCE_H_MODE_FLIP   9
#define	GUIDANCE_H_MODE_GUIDED   10
#define	guidance_h_SetUseRef(_val)

Functions
void	guidance_h_init (void)
void	guidance_h_mode_changed (uint8_t new_mode)
void	guidance_h_read_rc (bool in_flight)
void	guidance_h_run (bool in_flight)
void	guidance_h_hover_enter (void)
void	guidance_h_nav_enter (void)
void	guidance_h_from_nav (bool in_flight)
	Set horizontal guidance from NAV and run control loop. More...
void	guidance_h_set_igain (uint32_t igain)
void	guidance_h_guided_run (bool in_flight)
	Run GUIDED mode control. More...
bool	guidance_h_set_guided_pos (float x, float y)
	Set horizontal position setpoint in GUIDED mode. More...
bool	guidance_h_set_guided_heading (float heading)
	Set heading setpoint in GUIDED mode. More...
bool	guidance_h_set_guided_body_vel (float vx, float vy)
	Set body relative horizontal velocity setpoint in GUIDED mode. More...
bool	guidance_h_set_guided_vel (float vx, float vy)
	Set horizontal velocity setpoint in GUIDED mode. More...
bool	guidance_h_set_guided_heading_rate (float rate)
	Set heading rate setpoint in GUIDED mode. More...
const struct Int32Vect2 *	guidance_h_get_pos_err (void)
	Gets the position error. More...
static void	guidance_h_SetMaxSpeed (float speed)
static void	guidance_h_SetOmega (float omega)
static void	guidance_h_SetZeta (float zeta)
static void	guidance_h_SetTau (float tau)

Variables
struct HorizontalGuidance	guidance_h
int32_t	transition_percentage

Detailed Description

Horizontal guidance for rotorcrafts.

Definition in file guidance_h.h.

---

Data Structure Documentation

struct HorizontalGuidanceSetpoint

Definition at line 66 of file guidance_h.h.

Collaboration diagram for HorizontalGuidanceSetpoint:

Data Fields
float	heading
float	heading_rate
uint8_t	mask	bit 5: vx & vy, bit 6: vz, bit 7: vyaw
struct Int32Vect2	pos	horizontal position setpoint in NED. fixed point representation: Q23.8 accuracy 0.0039, range 8388km
struct Int32Vect2	speed	only used in HOVER mode if GUIDANCE_H_USE_SPEED_REF or in GUIDED mode

struct HorizontalGuidanceReference

Definition at line 78 of file guidance_h.h.

Collaboration diagram for HorizontalGuidanceReference:

Data Fields
struct Int32Vect2	accel	with INT32_ACCEL_FRAC
struct Int32Vect2	pos	with INT32_POS_FRAC
struct Int32Vect2	speed	with INT32_SPEED_FRAC

struct HorizontalGuidanceGains

Definition at line 84 of file guidance_h.h.

Data Fields
int32_t	a
int32_t	d
int32_t	i
int32_t	p
int32_t	v

struct HorizontalGuidance

Definition at line 92 of file guidance_h.h.

Collaboration diagram for HorizontalGuidance:

Data Fields
bool	approx_force_by_thrust
struct HorizontalGuidanceGains	gains
uint8_t	mode
struct FloatEulers	rc_sp
struct HorizontalGuidanceReference	ref	reference calculated from setpoints
struct HorizontalGuidanceSetpoint	sp	setpoints
bool	use_ref

Macro Definition Documentation

#define GUIDANCE_H_MODE_ATTITUDE   2

Definition at line 55 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), booz_fms_impl_init(), guidance_h_mode_changed(), guidance_h_read_rc(), guidance_h_run(), vi_init(), and vi_periodic().

#define GUIDANCE_H_MODE_CARE_FREE   6

Definition at line 59 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_FLIP   9

Definition at line 62 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_FORWARD   7

Definition at line 60 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_GUIDED   10

Definition at line 63 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_run(), guidance_h_set_guided_heading(), guidance_h_set_guided_heading_rate(), guidance_h_set_guided_pos(), and guidance_h_set_guided_vel().

#define GUIDANCE_H_MODE_HOVER   3

Definition at line 56 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), guidance_h_run(), and guidance_h_update_reference().

#define GUIDANCE_H_MODE_KILL   0

Definition at line 53 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_init(), and guidance_h_mode_changed().

#define GUIDANCE_H_MODE_MODULE   8

Definition at line 61 of file guidance_h.h.

Referenced by guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_NAV   4

Definition at line 57 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_RATE   1

Definition at line 54 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define GUIDANCE_H_MODE_RC_DIRECT   5

Definition at line 58 of file guidance_h.h.

Referenced by autopilot_static_set_mode(), guidance_h_mode_changed(), guidance_h_read_rc(), and guidance_h_run().

#define guidance_h_SetUseRef

(

_val

)

Value:

{                    \
    guidance_h.use_ref = _val && GUIDANCE_H_USE_REF;    \
  }

Definition at line 170 of file guidance_h.h.

#define GUIDANCE_H_USE_REF   TRUE

Use horizontal guidance reference trajectory.

Default is TRUE, define to FALSE to always disable it.

Definition at line 42 of file guidance_h.h.

Referenced by guidance_h_init().

#define GUIDANCE_H_USE_SPEED_REF   TRUE

Use horizontal guidance speed reference.

This also allows to give velocity commands via RC in GUIDANCE_H_MODE_HOVER. Default is TRUE, define to FALSE to always disable it.

Definition at line 50 of file guidance_h.h.

Function Documentation

void guidance_h_from_nav

(

bool

in_flight

)

Set horizontal guidance from NAV and run control loop.

Definition at line 569 of file guidance_h.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, FLOAT_ANGLE_NORMALIZE, guidance_h, guidance_h_cmd_earth, guidance_h_nav_enter(), guidance_h_traj_run(), guidance_h_update_reference(), guidance_hybrid_reset_heading(), guidance_hybrid_run(), guidance_indi_run(), HorizontalGuidanceSetpoint::heading, horizontal_mode, HORIZONTAL_MODE_ATTITUDE, HORIZONTAL_MODE_MANUAL, INT32_VECT2_NED_OF_ENU, nav_cmd_pitch, nav_cmd_roll, nav_cmd_yaw, nav_heading, nav_pitch, nav_roll, navigation_carrot, navigation_target, Int32Eulers::phi, HorizontalGuidanceSetpoint::pos, Int32Eulers::psi, HorizontalGuidance::sp, stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_rpy_setpoint_i(), stabilization_cmd, and Int32Eulers::theta.

Referenced by guidance_h_run().

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const struct Int32Vect2* guidance_h_get_pos_err

(

void

)

Gets the position error.

Parameters

none.

Returns

Pointer to a structure containing x and y position errors

Definition at line 748 of file guidance_h.c.

References guidance_h_pos_err.

void guidance_h_guided_run

(

bool

in_flight

)

Run GUIDED mode control.

Definition at line 676 of file guidance_h.c.

References ANGLE_BFP_OF_REAL, guidance_h, guidance_h_cmd_earth, guidance_h_hover_enter(), guidance_h_traj_run(), guidance_h_update_reference(), guidance_indi_run(), HorizontalGuidanceSetpoint::heading, HorizontalGuidance::sp, stabilization_attitude_run(), and stabilization_attitude_set_earth_cmd_i().

Referenced by guidance_h_run().

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void guidance_h_hover_enter

(

void

)

Definition at line 532 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::mask, HorizontalGuidanceSetpoint::pos, FloatEulers::psi, HorizontalGuidance::rc_sp, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stateGetNedToBodyEulers_f(), stateGetPositionNed_i(), VECT2_COPY, Int32Vect2::x, and Int32Vect2::y.

Referenced by guidance_h_guided_run(), and guidance_h_mode_changed().

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void guidance_h_init

(

void

)

Definition at line 166 of file guidance_h.c.

References HorizontalGuidanceGains::a, HorizontalGuidance::approx_force_by_thrust, HorizontalGuidanceGains::d, DefaultPeriodic, FLOAT_EULERS_ZERO, HorizontalGuidance::gains, gh_ref_init(), guidance_h, GUIDANCE_H_AGAIN, GUIDANCE_H_APPROX_FORCE_BY_THRUST, GUIDANCE_H_MODE_KILL, guidance_h_module_init(), guidance_h_trim_att_integrator, GUIDANCE_H_USE_REF, GUIDANCE_H_VGAIN, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::heading_rate, HorizontalGuidanceGains::i, INT_VECT2_ZERO, HorizontalGuidance::mode, HorizontalGuidanceGains::p, HorizontalGuidanceSetpoint::pos, HorizontalGuidance::rc_sp, register_periodic_telemetry(), send_gh(), send_hover_loop(), send_href(), send_tune_hover(), HorizontalGuidance::sp, transition_theta_offset, HorizontalGuidance::use_ref, and HorizontalGuidanceGains::v.

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void guidance_h_mode_changed

(

uint8_t

new_mode

)

Definition at line 212 of file guidance_h.c.

References guidance_flip_enter(), guidance_h, guidance_h_hover_enter(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_KILL, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_enter(), guidance_h_nav_enter(), guidance_hybrid_norm_ref_airspeed, guidance_indi_enter(), HorizontalGuidance::mode, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_none_enter(), and stabilization_rate_enter().

Referenced by autopilot_static_set_mode().

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void guidance_h_nav_enter

(

void

)

Definition at line 555 of file guidance_h.c.

References guidance_h, HorizontalGuidanceSetpoint::heading, INT32_VECT2_NED_OF_ENU, HorizontalGuidanceSetpoint::mask, nav_heading, navigation_carrot, HorizontalGuidanceSetpoint::pos, FloatEulers::psi, Int32Eulers::psi, reset_guidance_reference_from_current_position(), HorizontalGuidance::sp, stateGetNedToBodyEulers_f(), and stateGetNedToBodyEulers_i().

Referenced by guidance_h_from_nav(), and guidance_h_mode_changed().

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void guidance_h_read_rc

(

bool

in_flight

)

Definition at line 292 of file guidance_h.c.

References FALSE, FLOAT_EULERS_ZERO, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_read_rc(), HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, radio_control, RC_OK, HorizontalGuidance::rc_sp, read_rc_setpoint_speed_i(), HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_none_read_rc(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), RadioControl::status, and TRUE.

Referenced by autopilot_static_on_rc_frame().

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void guidance_h_run

(

bool

in_flight

)

Definition at line 351 of file guidance_h.c.

References guidance_flip_run(), guidance_h, guidance_h_from_nav(), guidance_h_guided_run(), GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_CARE_FREE, GUIDANCE_H_MODE_FLIP, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_GUIDED, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_MODULE, GUIDANCE_H_MODE_NAV, GUIDANCE_H_MODE_RATE, GUIDANCE_H_MODE_RC_DIRECT, guidance_h_module_run(), HorizontalGuidanceSetpoint::heading, INT32_PERCENTAGE_FRAC, HorizontalGuidance::mode, FloatEulers::psi, HorizontalGuidance::rc_sp, HorizontalGuidance::sp, stabilization_attitude_run(), stabilization_filter_commands(), stabilization_none_run(), stabilization_rate_run(), and transition_run().

Referenced by autopilot_static_periodic().

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bool guidance_h_set_guided_body_vel	(	float	vx,
		float	vy
	)

Set body relative horizontal velocity setpoint in GUIDED mode.

Parameters

vx	forward velocity (body frame) in meters/sec.
vy	right velocity (body frame) in meters/sec.

Returns

TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED)

Definition at line 719 of file guidance_h.c.

References guidance_h_set_guided_vel(), FloatEulers::psi, Int32Eulers::psi, and stateGetNedToBodyEulers_f().

Referenced by autopilot_guided_update().

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bool guidance_h_set_guided_heading

(

float

heading

)

Set heading setpoint in GUIDED mode.

Parameters

heading

Setpoint in radians.

Returns

TRUE if setpoint was set (currently in GUIDANCE_H_MODE_GUIDED)

Definition at line 708 of file guidance_h.c.

References FLOAT_ANGLE_NORMALIZE, guidance_h, GUIDANCE_H_MODE_GUIDED, heading, HorizontalGuidanceSetpoint::heading, HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, and HorizontalGuidance::sp.

Referenced by autopilot_guided_goto_ned(), autopilot_guided_move_ned(), and autopilot_guided_update().

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bool guidance_h_set_guided_heading_rate

(

float

rate

)

Set heading rate setpoint in GUIDED mode.

Parameters

rate	Heading rate in radians.

Returns

TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED)

Definition at line 738 of file guidance_h.c.

References guidance_h, GUIDANCE_H_MODE_GUIDED, HorizontalGuidanceSetpoint::heading_rate, HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, and HorizontalGuidance::sp.

Referenced by autopilot_guided_update().

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bool guidance_h_set_guided_pos	(	float	x,
		float	y
	)

Set horizontal position setpoint in GUIDED mode.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.

Returns

TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED)

Definition at line 697 of file guidance_h.c.

References guidance_h, GUIDANCE_H_MODE_GUIDED, HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, HorizontalGuidanceSetpoint::pos, POS_BFP_OF_REAL, HorizontalGuidance::sp, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_goto_ned(), and autopilot_guided_update().

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bool guidance_h_set_guided_vel	(	float	vx,
		float	vy
	)

Set horizontal velocity setpoint in GUIDED mode.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.

Returns

TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED)

Definition at line 727 of file guidance_h.c.

References guidance_h, GUIDANCE_H_MODE_GUIDED, HorizontalGuidanceSetpoint::mask, HorizontalGuidance::mode, HorizontalGuidance::sp, HorizontalGuidanceSetpoint::speed, SPEED_BFP_OF_REAL, Int32Vect2::x, and Int32Vect2::y.

Referenced by autopilot_guided_move_ned(), autopilot_guided_update(), and guidance_h_set_guided_body_vel().

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void guidance_h_set_igain

(

uint32_t

igain

)

Definition at line 669 of file guidance_h.c.

References HorizontalGuidance::gains, guidance_h, guidance_h_trim_att_integrator, HorizontalGuidanceGains::i, and INT_VECT2_ZERO.

static void guidance_h_SetMaxSpeed ( float  speed )

inlinestatic

Definition at line 174 of file guidance_h.h.

References gh_set_max_speed().

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static void guidance_h_SetOmega ( float  omega )

inlinestatic

Definition at line 179 of file guidance_h.h.

References gh_set_omega().

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static void guidance_h_SetTau ( float  tau )

inlinestatic

Definition at line 189 of file guidance_h.h.

References gh_set_tau().

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static void guidance_h_SetZeta ( float  zeta )

inlinestatic

Definition at line 184 of file guidance_h.h.

References gh_set_zeta().

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Variable Documentation

struct HorizontalGuidance guidance_h

Definition at line 80 of file guidance_h.c.

Referenced by gps_sim_hitl_event(), guidance_h_from_nav(), guidance_h_guided_run(), guidance_h_hover_enter(), guidance_h_init(), guidance_h_mode_changed(), guidance_h_nav_enter(), guidance_h_read_rc(), guidance_h_run(), guidance_h_set_guided_heading(), guidance_h_set_guided_heading_rate(), guidance_h_set_guided_pos(), guidance_h_set_guided_vel(), guidance_h_set_igain(), guidance_h_traj_run(), guidance_h_update_reference(), guidance_hybrid_position_to_airspeed(), guidance_indi_run(), reset_guidance_reference_from_current_position(), send_fp(), send_gh(), send_hover_loop(), send_href(), and send_status().

int32_t transition_percentage

Definition at line 82 of file guidance_h.c.

Referenced by ctrl_eff_scheduling_periodic().