Paparazzi UAS  v5.14.0_stable-0-g3f680d1
Paparazzi is a free software Unmanned Aircraft System.
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vertical_ctrl_module_demo.h
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1 /*
2  * Copyright (C) 2015
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef VERTICAL_CTRL_MODULE_DEMO_H_
29 #define VERTICAL_CTRL_MODULE_DEMO_H_
30 
31 #include "std.h"
32 
34  float agl;
35  float setpoint;
36  float pgain;
37  float igain;
38  float sum_err;
39 };
40 
41 extern struct VerticalCtrlDemo v_ctrl;
42 
43 // for example use the standard horizontal (hover) mode
44 #define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_HOVER
45 
46 // and own guidance_v
47 #define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE
48 
49 // Implement own Vertical loops
50 extern void guidance_v_module_init(void);
51 extern void guidance_v_module_enter(void);
52 extern void guidance_v_module_run(bool in_flight);
53 
54 #endif /* VERTICAL_CTRL_MODULE_DEMO_H_ */
void guidance_v_module_init(void)
void guidance_v_module_enter(void)
Entering the vertical module (user switched to module)
void guidance_v_module_run(bool in_flight)
struct VerticalCtrlDemo v_ctrl