vertical_ctrl_module_demo.c File Reference

example vertical controller More...

#include "modules/ctrl/vertical_ctrl_module_demo.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include "subsystems/abi.h"
#include "firmwares/rotorcraft/stabilization.h"

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Macros
#define	VERTICAL_CTRL_MODULE_AGL_ID   ABI_BROADCAST
#define	VERTICAL_CTRL_MODULE_PGAIN   1.0
#define	VERTICAL_CTRL_MODULE_IGAIN   0.01

Functions
static void	vertical_ctrl_agl_cb (uint8_t sender_id, float distance)
	Callback function of the ground altitude. More...
void	vertical_ctrl_module_init (void)
void	vertical_ctrl_module_run (bool in_flight)
void	guidance_v_module_init (void)
void	guidance_v_module_enter (void)
	Entering the vertical module (user switched to module) More...
void	guidance_v_module_run (bool in_flight)

Variables
static abi_event	agl_ev
	The altitude ABI event. More...
struct VerticalCtrlDemo	v_ctrl

Detailed Description

example vertical controller

Definition in file vertical_ctrl_module_demo.c.

Macro Definition Documentation

#define VERTICAL_CTRL_MODULE_AGL_ID   ABI_BROADCAST

Definition at line 36 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

#define VERTICAL_CTRL_MODULE_IGAIN   0.01

Definition at line 45 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

#define VERTICAL_CTRL_MODULE_PGAIN   1.0

Definition at line 41 of file vertical_ctrl_module_demo.c.

Referenced by vertical_ctrl_module_init().

Function Documentation

void guidance_v_module_enter

(

void

)

Entering the vertical module (user switched to module)

Entering the vertical module (user switched to module)

Definition at line 101 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::sum_err, and v_ctrl.

void guidance_v_module_init

(

void

)

Definition at line 96 of file vertical_ctrl_module_demo.c.

References vertical_ctrl_module_init().

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void guidance_v_module_run

(

bool

in_flight

)

Definition at line 107 of file vertical_ctrl_module_demo.c.

References AP_MODE_NAV, autopilot_static_set_mode(), Electrical::bat_low, electrical, and vertical_ctrl_module_run().

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static void vertical_ctrl_agl_cb ( uint8_t sender_id  , float  distance  )

static

Callback function of the ground altitude.

Definition at line 88 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, and v_ctrl.

Referenced by vertical_ctrl_module_init().

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void vertical_ctrl_module_init

(

void

)

Definition at line 59 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, VerticalCtrlDemo::igain, VerticalCtrlDemo::pgain, VerticalCtrlDemo::setpoint, VerticalCtrlDemo::sum_err, v_ctrl, vertical_ctrl_agl_cb(), VERTICAL_CTRL_MODULE_AGL_ID, VERTICAL_CTRL_MODULE_IGAIN, and VERTICAL_CTRL_MODULE_PGAIN.

Referenced by guidance_v_module_init().

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void vertical_ctrl_module_run

(

bool

in_flight

)

Definition at line 72 of file vertical_ctrl_module_demo.c.

References VerticalCtrlDemo::agl, VerticalCtrlDemo::igain, MAX_PPRZ, VerticalCtrlDemo::pgain, VerticalCtrlDemo::setpoint, stabilization_cmd, VerticalCtrlDemo::sum_err, and v_ctrl.

Referenced by guidance_v_module_run().

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Variable Documentation

abi_event agl_ev

static

The altitude ABI event.

Definition at line 48 of file vertical_ctrl_module_demo.c.

struct VerticalCtrlDemo v_ctrl

Definition at line 53 of file vertical_ctrl_module_demo.c.

Referenced by guidance_v_module_enter(), vertical_ctrl_agl_cb(), vertical_ctrl_module_init(), and vertical_ctrl_module_run().