guidance_indi.h File Reference

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"

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Functions
void	guidance_indi_enter (void)
	Call upon entering indi guidance. More...
void	guidance_indi_run (float *heading_sp)
void	stabilization_attitude_set_setpoint_rp_quat_f (struct FloatEulers *indi_rp_cmd, bool in_flight, float heading)
void	guidance_indi_init (void)
	Init function. More...

Variables
float	guidance_indi_thrust_specific_force_gain
float	guidance_indi_pos_gain
float	guidance_indi_speed_gain
float	guidance_indi_max_bank

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion

Definition in file guidance_indi.h.

Function Documentation

guidance_indi_enter()

void guidance_indi_enter

(

void

)

Call upon entering indi guidance.

Definition at line 134 of file guidance_indi.c.

guidance_indi_init()

void guidance_indi_init

(

void

)

Init function.

Definition at line 125 of file guidance_indi.c.

guidance_indi_run()

void guidance_indi_run

(

float *

heading_sp

)

Parameters

heading_sp

the desired heading [rad]

main indi guidance function

Definition at line 154 of file guidance_indi.c.

stabilization_attitude_set_setpoint_rp_quat_f()

void stabilization_attitude_set_setpoint_rp_quat_f	(	struct FloatEulers *	indi_rp_cmd,
		bool	in_flight,
		float	heading
	)

Variable Documentation

guidance_indi_max_bank

float guidance_indi_max_bank

Definition at line 110 of file guidance_indi.c.

Referenced by guidance_indi_run().

guidance_indi_pos_gain

float guidance_indi_pos_gain

Definition at line 58 of file guidance_indi.c.

Referenced by guidance_indi_run().

guidance_indi_speed_gain

float guidance_indi_speed_gain

Definition at line 64 of file guidance_indi.c.

Referenced by guidance_indi_run().

guidance_indi_thrust_specific_force_gain

float guidance_indi_thrust_specific_force_gain