ctrl_module_outerloop_demo.c File Reference

example empty controller More...

#include "modules/ctrl/ctrl_module_outerloop_demo.h"
#include "state.h"
#include "subsystems/radio_control.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "autopilot.h"

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Data Structures
struct	ctrl_module_demo_struct

Functions
void	guidance_h_module_init (void)
void	guidance_h_module_enter (void)
void	guidance_h_module_read_rc (void)
void	guidance_h_module_run (bool in_flight)

Variables
struct ctrl_module_demo_struct	ctrl
float	comode_time = 0

Detailed Description

example empty controller

Implements an example simple horizontal outerloop controller in a module.

Definition in file ctrl_module_outerloop_demo.c.

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Data Structure Documentation

struct ctrl_module_demo_struct

Definition at line 32 of file ctrl_module_innerloop_demo.c.

Collaboration diagram for ctrl_module_demo_struct:

Data Fields
struct Int32Eulers	cmd
struct Int32Eulers	rc_sp
int	rc_t
int	rc_x
int	rc_y
int	rc_z

Function Documentation

void guidance_h_module_enter

(

void

)

Definition at line 58 of file ctrl_module_outerloop_demo.c.

References autopilot, ctrl_module_demo_struct::cmd, ctrl, pprz_autopilot::in_flight, Int32Eulers::psi, ctrl_module_demo_struct::rc_sp, stabilization_attitude_read_rc_setpoint_eulers(), and stateGetNedToBodyEulers_i().

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void guidance_h_module_init

(

void

)

Definition at line 54 of file ctrl_module_outerloop_demo.c.

void guidance_h_module_read_rc

(

void

)

Definition at line 67 of file ctrl_module_outerloop_demo.c.

References autopilot, ctrl, pprz_autopilot::in_flight, ctrl_module_demo_struct::rc_sp, and stabilization_attitude_read_rc_setpoint_eulers().

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void guidance_h_module_run

(

bool

in_flight

)

Definition at line 73 of file ctrl_module_outerloop_demo.c.

References ANGLE_BFP_OF_REAL, ctrl_module_demo_struct::cmd, ctrl, Int32Eulers::phi, stabilization_attitude_run(), stabilization_attitude_set_rpy_setpoint_i(), and Int32Eulers::theta.

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Variable Documentation

float comode_time = 0

Definition at line 48 of file ctrl_module_outerloop_demo.c.

struct ctrl_module_demo_struct ctrl

Referenced by guidance_h_module_enter(), guidance_h_module_read_rc(), and guidance_h_module_run().