Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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guidance_indi_hybrid.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2015 Ewoud Smeur <ewoud.smeur@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef GUIDANCE_INDI_HYBRID_H
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#define GUIDANCE_INDI_HYBRID_H
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#include "
std.h
"
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#include "
math/pprz_algebra_int.h
"
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#include "
math/pprz_algebra_float.h
"
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#include "
filters/high_pass_filter.h
"
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extern
void
guidance_indi_enter
(
void
);
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extern
void
guidance_indi_run
(
float
*heading_sp);
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extern
void
stabilization_attitude_set_setpoint_rp_quat_f
(
struct
FloatEulers
* indi_rp_cmd,
bool
in_flight,
int32_t
heading
);
41
extern
void
guidance_indi_init
(
void
);
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extern
void
guidance_indi_propagate_filters
(
void
);
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struct
guidance_indi_hybrid_params
{
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float
pos_gain
;
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float
pos_gainz
;
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float
speed_gain
;
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float
speed_gainz
;
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};
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extern
struct
guidance_indi_hybrid_params
gih_params
;
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#endif
/* GUIDANCE_INDI_HYBRID_H */
pprz_algebra_float.h
Paparazzi floating point algebra.
pprz_algebra_int.h
Paparazzi fixed point algebra.
gih_params
struct guidance_indi_hybrid_params gih_params
Definition:
guidance_indi_hybrid.c:64
std.h
guidance_indi_enter
void guidance_indi_enter(void)
Call upon entering indi guidance.
Definition:
guidance_indi.c:134
guidance_indi_init
void guidance_indi_init(void)
Init function.
Definition:
guidance_indi.c:125
stabilization_attitude_set_setpoint_rp_quat_f
void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers *indi_rp_cmd, bool in_flight, int32_t heading)
guidance_indi_hybrid_params::speed_gainz
float speed_gainz
Definition:
guidance_indi_hybrid.h:48
guidance_indi_run
void guidance_indi_run(float *heading_sp)
Definition:
guidance_indi.c:154
guidance_indi_hybrid_params::pos_gainz
float pos_gainz
Definition:
guidance_indi_hybrid.h:46
guidance_indi_hybrid_params::pos_gain
float pos_gain
Definition:
guidance_indi_hybrid.h:45
int32_t
signed long int32_t
Definition:
types.h:19
guidance_indi_propagate_filters
void guidance_indi_propagate_filters(void)
Low pass the accelerometer measurements to remove noise from vibrations.
Definition:
guidance_indi_hybrid.c:420
guidance_indi_hybrid_params
Definition:
guidance_indi_hybrid.h:44
FloatEulers
euler angles
Definition:
pprz_algebra_float.h:84
guidance_indi_hybrid_params::speed_gain
float speed_gain
Definition:
guidance_indi_hybrid.h:47
high_pass_filter.h
Simple high pass filter with double precision.
heading
float heading
Definition:
wedgebug.c:258
sw
airborne
firmwares
rotorcraft
guidance
guidance_indi_hybrid.h
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