gvf_parametric_low_level_control.c

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/*
 * Copyright (C) 2020 Hector Garcia de Marina <hgarciad@ucm.es>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "autopilot.h"
#include "gvf_parametric_low_level_control.h"
#include "gvf_parametric.h"
 
#if defined(FIXEDWING_FIRMWARE)
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/guidance/guidance_v_n.h"   // gvf_parametric is only compatible with the new pprz controller!
#endif
 
void gvf_parametric_low_level_control_2D(float heading_rate)
{
#if defined(FIXEDWING_FIRMWARE)
  if (autopilot_get_mode() == AP_MODE_AUTO2) {
    // Lateral XY coordinates
    lateral_mode = LATERAL_MODE_ROLL;
 
    struct FloatEulers *att = stateGetNedToBodyEulers_f();
    float ground_speed = stateGetHorizontalSpeedNorm_f();
 
    h_ctl_roll_setpoint =
      -gvf_parametric_control.k_roll * atanf(heading_rate * ground_speed / GVF_PARAMETRIC_GRAVITY / cosf(att->theta));
    BoundAbs(h_ctl_roll_setpoint, h_ctl_roll_max_setpoint); // Setting point for roll angle
  }
#else
#error gvf_parametric does not support your firmware yet
#endif
}
 
void gvf_parametric_low_level_control_3D(float heading_rate, float climbing_rate)
{
#if defined(FIXEDWING_FIRMWARE)
  if (autopilot_get_mode() == AP_MODE_AUTO2) {
    // Vertical Z coordinate
    v_ctl_mode = V_CTL_MODE_AUTO_CLIMB;
    v_ctl_speed_mode = V_CTL_SPEED_THROTTLE;
 
    v_ctl_climb_setpoint = gvf_parametric_control.k_climb * climbing_rate; // Setting point for vertical speed
 
    // Lateral XY coordinates
    lateral_mode = LATERAL_MODE_ROLL;
 
    struct FloatEulers *att = stateGetNedToBodyEulers_f();
    float ground_speed = stateGetHorizontalSpeedNorm_f();
 
    h_ctl_roll_setpoint =
      -gvf_parametric_control.k_roll * atanf(heading_rate * ground_speed / GVF_PARAMETRIC_GRAVITY / cosf(att->theta));
    BoundAbs(h_ctl_roll_setpoint, h_ctl_roll_max_setpoint); // Setting point for roll angle
  }
#else
#error gvf_parametric does not support your firmware yet
#endif
}