guidance_indi_hybrid module

Guidance controller for hybrids using INDI

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Example for airframe file

Add to your firmware section:

<module name="guidance_indi_hybrid"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_indi_init()
• guidance_indi_enter()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_indi_hybrid.h

Source Files

• /guidance/guidance_indi_hybrid.c

Raw guidance_indi_hybrid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi_hybrid" dir="guidance">
  <doc>
    <description>
      Guidance controller for hybrids using INDI
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="guidance_indi_hybrid">
        <dl_setting var="gih_params.pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
        <dl_setting var="gih_params.speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="guidance_indi_hybrid.h"/>
  </header>
  <init fun="guidance_indi_init()"/>
  <init fun="guidance_indi_enter()"/>
  <!--<periodic fun="guidance_indi_propagate_filters()" freq="PERIODIC_FREQUENCY" autorun="TRUE"/>-->
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_indi_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="GUIDANCE_INDI" value="TRUE"/>
    <define name="GUIDANCE_INDI_HYBRID" value="TRUE"/>
  </makefile>
</module>