guidance_common.h File Reference

Vertical control for fixed wing vehicles. More...

#include <inttypes.h>
#include "paparazzi.h"

Include dependency graph for guidance_common.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	V_CTL_MODE_MANUAL   0
#define	V_CTL_MODE_AUTO_THROTTLE   1
#define	V_CTL_MODE_AUTO_CLIMB   2
#define	V_CTL_MODE_AUTO_ALT   3
#define	V_CTL_MODE_LANDING   4
#define	V_CTL_MODE_NB   5
#define	V_CTL_CLIMB_MODE_AUTO_THROTTLE   0
#define	V_CTL_CLIMB_MODE_AUTO_PITCH   1
#define	V_CTL_AUTO_THROTTLE_STANDARD   0
#define	V_CTL_AUTO_THROTTLE_AGRESSIVE   1
#define	V_CTL_AUTO_THROTTLE_BLENDED   2
#define	guidance_v_SetCruiseThrottle(_v)
#define	guidance_v_SetAutoThrottleIgain(_v)

Functions
void	v_ctl_init (void)
void	v_ctl_altitude_loop (void)
	outer loop More...
void	v_ctl_climb_loop (void)
	Auto-throttle inner loop. More...
void	v_ctl_landing_loop (void)
void	v_ctl_guidance_loop (void)
	General guidance logic This will call the proper control loops according to the sub-modes. More...
void	v_ctl_throttle_slew (void)
	Computes throttle_slewed from throttle_setpoint. More...

Variables
uint8_t	v_ctl_mode
float	v_ctl_climb_setpoint
uint8_t	v_ctl_climb_mode
uint8_t	v_ctl_auto_throttle_submode
float	v_ctl_auto_throttle_sum_err
float	v_ctl_altitude_error
	in meters, (setpoint - alt) -> positive = too low More...
float	v_ctl_auto_airspeed_controlled
float	v_ctl_auto_groundspeed_setpoint
	in meters per second More...
float	v_ctl_auto_throttle_cruise_throttle
pprz_t	v_ctl_throttle_setpoint
pprz_t	v_ctl_throttle_slewed
float	v_ctl_pitch_setpoint

Detailed Description

Vertical control for fixed wing vehicles.

Definition in file guidance_common.h.

Macro Definition Documentation

#define guidance_v_SetAutoThrottleIgain

(

_v

)

Value:

{ \
    v_ctl_auto_throttle_igain = _v;   \
    v_ctl_auto_throttle_sum_err = 0;    \
  }

Definition at line 88 of file guidance_common.h.

#define guidance_v_SetCruiseThrottle

(

_v

)

Value:

{ \
    v_ctl_auto_throttle_cruise_throttle = (_v ? _v : v_ctl_auto_throttle_nominal_cruise_throttle); \
    Bound(v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle, v_ctl_auto_throttle_max_cruise_throttle); \
  }

Definition at line 83 of file guidance_common.h.

#define V_CTL_AUTO_THROTTLE_AGRESSIVE   1

Definition at line 52 of file guidance_common.h.

Referenced by h_ctl_course_loop(), v_ctl_altitude_loop(), and v_ctl_climb_auto_throttle_loop().

#define V_CTL_AUTO_THROTTLE_BLENDED   2

Definition at line 53 of file guidance_common.h.

Referenced by h_ctl_course_loop(), v_ctl_altitude_loop(), and v_ctl_climb_auto_throttle_loop().

#define V_CTL_AUTO_THROTTLE_STANDARD   0

Definition at line 51 of file guidance_common.h.

Referenced by nav_periodic_task(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

#define V_CTL_CLIMB_MODE_AUTO_PITCH   1

Definition at line 48 of file guidance_common.h.

Referenced by v_ctl_climb_loop().

#define V_CTL_CLIMB_MODE_AUTO_THROTTLE   0

Definition at line 47 of file guidance_common.h.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

#define V_CTL_MODE_AUTO_ALT   3

Definition at line 39 of file guidance_common.h.

Referenced by nav_home(), navigation_task(), and v_ctl_guidance_loop().

#define V_CTL_MODE_AUTO_CLIMB   2

Definition at line 38 of file guidance_common.h.

Referenced by attitude_loop(), nav_periodic_task(), v_ctl_climb_loop(), and v_ctl_guidance_loop().

#define V_CTL_MODE_AUTO_THROTTLE   1

Definition at line 37 of file guidance_common.h.

Referenced by attitude_loop(), nav_home(), nav_without_gps(), and v_ctl_guidance_loop().

#define V_CTL_MODE_LANDING   4

Definition at line 40 of file guidance_common.h.

Referenced by attitude_loop(), h_ctl_pitch_loop(), nav_skid_landing_glide(), and v_ctl_guidance_loop().

#define V_CTL_MODE_MANUAL   0

Definition at line 36 of file guidance_common.h.

Referenced by v_ctl_init().

#define V_CTL_MODE_NB   5

Definition at line 41 of file guidance_common.h.

Function Documentation

void v_ctl_altitude_loop

(

void

)

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 298 of file energy_ctrl.c.

References UtmCoor_f::alt, STALL_AIRSPEED, stateGetPositionUtm_f(), v_ctl_altitude_error, v_ctl_altitude_max_climb, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_pre_climb_correction, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_setpoint, V_CTL_AUTO_CLIMB_LIMIT, V_CTL_AUTO_THROTTLE_AGRESSIVE, V_CTL_AUTO_THROTTLE_BLENDED, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_THROTTLE, v_ctl_climb_setpoint, and v_ctl_max_climb.

Referenced by navigation_task(), and v_ctl_guidance_loop().

Here is the call graph for this function:

Here is the caller graph for this function:

void v_ctl_climb_loop

(

void

)

Auto-throttle inner loop.

Definition at line 336 of file energy_ctrl.c.

References ac_char_update(), accel_imu_meas, ACCELS_FLOAT_OF_BFP, AIRSPEED_SETPOINT_SLEW, autopilot, autopilot_throttle_killed(), controlled_throttle, dt_attidude, float_quat_vmult(), imu_to_body_quat, pprz_autopilot::launch, low_pass_vdot(), MAX_PPRZ, nav_pitch, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetSpeedEnu_f(), TRIM_UPPRZ, v_ctl_airspeed_pgain, v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_setpoint, v_ctl_auto_airspeed_setpoint_slew, v_ctl_auto_groundspeed_igain, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR, v_ctl_auto_groundspeed_pgain, v_ctl_auto_groundspeed_setpoint, v_ctl_auto_groundspeed_sum_err, v_ctl_auto_pitch_of_airspeed_dgain, v_ctl_auto_pitch_of_airspeed_igain, v_ctl_auto_pitch_of_airspeed_pgain, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_nominal_cruise_pitch, v_ctl_auto_throttle_nominal_cruise_throttle, v_ctl_auto_throttle_of_airspeed_igain, v_ctl_auto_throttle_of_airspeed_pgain, v_ctl_auto_throttle_pitch_of_vz_pgain, v_ctl_climb_auto_throttle_loop(), v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_PITCH, V_CTL_CLIMB_MODE_AUTO_THROTTLE, v_ctl_climb_setpoint, v_ctl_desired_acceleration, v_ctl_energy_diff_igain, v_ctl_energy_diff_pgain, v_ctl_energy_total_igain, v_ctl_energy_total_pgain, V_CTL_GLIDE_RATIO, v_ctl_max_acceleration, v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, v_ctl_pitch_setpoint, v_ctl_set_pitch(), v_ctl_set_throttle(), V_CTL_SPEED_AIRSPEED, V_CTL_SPEED_GROUNDSPEED, v_ctl_speed_mode, V_CTL_SPEED_THROTTLE, v_ctl_throttle_setpoint, FloatVect3::x, and EnuCoor_f::z.

Referenced by attitude_loop(), and v_ctl_guidance_loop().

Here is the call graph for this function:

Here is the caller graph for this function:

void v_ctl_guidance_loop

(

void

)

General guidance logic This will call the proper control loops according to the sub-modes.

Definition at line 265 of file guidance_v.c.

References ap_electrical, autopilot, pprz_autopilot::flight_time, pprz_autopilot::kill_throttle, pprz_autopilot::launch, MAX_PPRZ, nav_pitch, nav_throttle_setpoint, TRIM_PPRZ, TRIM_UPPRZ, v_ctl_altitude_loop(), v_ctl_climb_loop(), v_ctl_landing_loop(), v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_CLIMB, V_CTL_MODE_AUTO_THROTTLE, V_CTL_MODE_LANDING, v_ctl_pitch_setpoint, v_ctl_throttle_setpoint, and Electrical::vsupply.

Here is the call graph for this function:

void v_ctl_init

(

void

)

Definition at line 217 of file energy_ctrl.c.

References accel_cb(), body_to_imu_cb(), controlled_throttle, float_quat_identity(), imu_to_body_quat, v_ctl_airspeed_pgain, v_ctl_altitude_error, v_ctl_altitude_max_climb, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_altitude_pgain, v_ctl_altitude_pre_climb, v_ctl_altitude_pre_climb_correction, V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION, v_ctl_altitude_setpoint, v_ctl_auto_airspeed_controlled, v_ctl_auto_airspeed_pitch_dgain, v_ctl_auto_airspeed_pitch_igain, v_ctl_auto_airspeed_pitch_pgain, v_ctl_auto_airspeed_pitch_sum_err, v_ctl_auto_airspeed_setpoint, v_ctl_auto_airspeed_setpoint_slew, v_ctl_auto_airspeed_throttle_dgain, v_ctl_auto_airspeed_throttle_igain, v_ctl_auto_airspeed_throttle_pgain, v_ctl_auto_airspeed_throttle_sum_err, v_ctl_auto_groundspeed_igain, v_ctl_auto_groundspeed_pgain, v_ctl_auto_groundspeed_setpoint, v_ctl_auto_groundspeed_sum_err, v_ctl_auto_pitch_dgain, V_CTL_AUTO_PITCH_DGAIN, V_CTL_AUTO_PITCH_IGAIN, v_ctl_auto_pitch_igain, v_ctl_auto_pitch_of_airspeed_dgain, v_ctl_auto_pitch_of_airspeed_igain, v_ctl_auto_pitch_of_airspeed_pgain, v_ctl_auto_pitch_pgain, v_ctl_auto_pitch_sum_err, v_ctl_auto_throttle_climb_throttle_increment, v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_DGAIN, v_ctl_auto_throttle_dgain, v_ctl_auto_throttle_igain, v_ctl_auto_throttle_max_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle, v_ctl_auto_throttle_nominal_cruise_pitch, v_ctl_auto_throttle_nominal_cruise_throttle, v_ctl_auto_throttle_of_airspeed_igain, v_ctl_auto_throttle_of_airspeed_pgain, v_ctl_auto_throttle_pgain, v_ctl_auto_throttle_pitch_of_vz_dgain, V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN, v_ctl_auto_throttle_pitch_of_vz_pgain, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_auto_throttle_sum_err, v_ctl_climb_mode, V_CTL_CLIMB_MODE_AUTO_THROTTLE, v_ctl_climb_setpoint, v_ctl_energy_diff_igain, v_ctl_energy_diff_pgain, V_CTL_ENERGY_IMU_ID, v_ctl_energy_total_igain, v_ctl_energy_total_pgain, v_ctl_max_acceleration, V_CTL_MAX_ACCELERATION, v_ctl_max_climb, v_ctl_mode, V_CTL_MODE_MANUAL, v_ctl_pitch_setpoint, V_CTL_PITCH_TRIM, v_ctl_pitch_trim, v_ctl_speed_mode, V_CTL_SPEED_THROTTLE, and v_ctl_throttle_setpoint.

Here is the call graph for this function:

void v_ctl_landing_loop

(

void

)

Definition at line 357 of file guidance_v.c.

References UtmCoor_f::alt, autopilot_throttle_killed(), CONTROL_FREQUENCY, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, nav_pitch, stateGetHorizontalSpeedNorm_f(), stateGetPositionUtm_f(), v_ctl_altitude_setpoint, and v_ctl_throttle_setpoint.

Referenced by attitude_loop(), and v_ctl_guidance_loop().

Here is the call graph for this function:

Here is the caller graph for this function:

void v_ctl_throttle_slew

(

void

)

Computes throttle_slewed from throttle_setpoint.

Computes throttle_slewed from throttle_setpoint.

Definition at line 452 of file energy_ctrl.c.

References MAX_PPRZ, TRIM_PPRZ, v_ctl_throttle_setpoint, V_CTL_THROTTLE_SLEW, and v_ctl_throttle_slewed.

Referenced by attitude_loop().

Here is the caller graph for this function:

Variable Documentation

float v_ctl_altitude_error

in meters, (setpoint - alt) -> positive = too low

Definition at line 92 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_controlled

Definition at line 123 of file energy_ctrl.c.

Referenced by send_airspeed(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_setpoint

in meters per second

Definition at line 125 of file energy_ctrl.c.

Referenced by send_airspeed(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 103 of file energy_ctrl.c.

Referenced by formation_flight(), potential_task(), start_formation(), stop_formation(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), and v_ctl_set_throttle().

uint8_t v_ctl_auto_throttle_submode

Definition at line 76 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), nav_periodic_task(), send_calibration(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_sum_err

Definition at line 77 of file energy_ctrl.c.

Referenced by send_calibration(), v_ctl_climb_auto_throttle_loop(), v_ctl_init(), and v_ctl_set_throttle().

uint8_t v_ctl_climb_mode

Definition at line 75 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_climb_setpoint

Definition at line 98 of file energy_ctrl.c.

Referenced by send_desired(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), v_ctl_set_pitch(), and v_ctl_set_throttle().

uint8_t v_ctl_mode

Definition at line 74 of file energy_ctrl.c.

Referenced by attitude_loop(), h_ctl_pitch_loop(), nav_home(), nav_periodic_task(), nav_skid_landing_glide(), nav_without_gps(), navigation_task(), send_mode(), v_ctl_climb_loop(), v_ctl_guidance_loop(), and v_ctl_init().

float v_ctl_pitch_setpoint

Definition at line 133 of file energy_ctrl.c.

Referenced by attitude_loop(), h_ctl_guidance_loop(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_init(), and v_ctl_set_pitch().

pprz_t v_ctl_throttle_setpoint

Definition at line 131 of file energy_ctrl.c.

Referenced by attitude_loop(), autopilot_static_on_rc_frame(), h_ctl_roll_loop(), nav_home(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_init(), v_ctl_landing_loop(), and v_ctl_throttle_slew().

pprz_t v_ctl_throttle_slewed

Definition at line 132 of file energy_ctrl.c.

Referenced by attitude_loop(), and v_ctl_throttle_slew().