stabilization_attitude.c File Reference

#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "std.h"
#include "led.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/airframe.h"
#include <CTRL_TYPE_H>
#include "autopilot.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	H_CTL_COURSE_PRE_BANK_CORRECTION   1.
#define	H_CTL_COURSE_DGAIN   0.
#define	H_CTL_ROLL_RATE_GAIN   0.

Functions
static void	h_ctl_roll_loop (void)
	Computes h_ctl_aileron_setpoint from h_ctl_roll_setpoint. More...
static void	h_ctl_pitch_loop (void)
static void	send_calibration (struct transport_tx *trans, struct link_device *dev)
void	h_ctl_init (void)
void	h_ctl_course_loop (void)
void	h_ctl_attitude_loop (void)

Variables
float	h_ctl_course_setpoint
float	h_ctl_course_pre_bank
float	h_ctl_course_pre_bank_correction
float	h_ctl_course_pgain
float	h_ctl_course_dgain
float	h_ctl_roll_max_setpoint
bool	h_ctl_disabled
bool	h_ctl_auto1_rate
float	h_ctl_roll_setpoint
float	h_ctl_roll_pgain
pprz_t	h_ctl_aileron_setpoint
float	h_ctl_roll_slew
float	h_ctl_pitch_setpoint
float	h_ctl_pitch_loop_setpoint
float	h_ctl_pitch_pgain
float	h_ctl_pitch_dgain
pprz_t	h_ctl_elevator_setpoint
float	h_ctl_aileron_of_throttle
float	h_ctl_elevator_of_roll
float	h_ctl_roll_attitude_gain
float	h_ctl_roll_rate_gain

Detailed Description

Fixed wing horizontal control.

Definition in file stabilization_attitude.c.

Macro Definition Documentation

H_CTL_COURSE_DGAIN

#define H_CTL_COURSE_DGAIN   0.

Definition at line 112 of file stabilization_attitude.c.

H_CTL_COURSE_PRE_BANK_CORRECTION

#define H_CTL_COURSE_PRE_BANK_CORRECTION   1.

Definition at line 108 of file stabilization_attitude.c.

H_CTL_ROLL_RATE_GAIN

#define H_CTL_ROLL_RATE_GAIN   0.

Definition at line 116 of file stabilization_attitude.c.

Function Documentation

h_ctl_attitude_loop()

void h_ctl_attitude_loop

(

void

)

Definition at line 326 of file stabilization_attitude.c.

References h_ctl_disabled, h_ctl_pitch_loop(), and h_ctl_roll_loop().

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h_ctl_course_loop()

void h_ctl_course_loop

(

void

)

Definition at line 201 of file stabilization_attitude.c.

References autopilot, h_ctl_course_dgain, h_ctl_course_pgain, h_ctl_course_pre_bank, h_ctl_course_pre_bank_correction, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, h_ctl_roll_slew, pprz_autopilot::launch, Max, Min, FloatEulers::psi, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), v_ctl_altitude_error, V_CTL_AUTO_THROTTLE_AGRESSIVE, V_CTL_AUTO_THROTTLE_BLENDED, and v_ctl_auto_throttle_submode.

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h_ctl_init()

void h_ctl_init

(

void

)

Definition at line 135 of file stabilization_attitude.c.

References airspeed_ratio2, DefaultPeriodic, h_ctl_aileron_of_throttle, h_ctl_aileron_setpoint, h_ctl_course_dgain, H_CTL_COURSE_DGAIN, h_ctl_course_pgain, h_ctl_course_pre_bank, h_ctl_course_pre_bank_correction, H_CTL_COURSE_PRE_BANK_CORRECTION, h_ctl_course_setpoint, h_ctl_disabled, h_ctl_elevator_of_roll, h_ctl_elevator_setpoint, h_ctl_pitch_dgain, H_CTL_PITCH_DGAIN, h_ctl_pitch_igain, H_CTL_PITCH_IGAIN, h_ctl_pitch_Kffa, H_CTL_PITCH_KFFA, h_ctl_pitch_Kffd, H_CTL_PITCH_KFFD, h_ctl_pitch_loop_setpoint, h_ctl_pitch_of_roll, h_ctl_pitch_pgain, h_ctl_pitch_setpoint, h_ctl_pitch_sum_err, h_ctl_ref, H_CTL_REF_MAX_P, H_CTL_REF_MAX_P_DOT, H_CTL_REF_MAX_Q, H_CTL_REF_MAX_Q_DOT, h_ctl_roll_attitude_gain, h_ctl_roll_igain, H_CTL_ROLL_IGAIN, h_ctl_roll_Kffa, H_CTL_ROLL_KFFA, h_ctl_roll_Kffd, H_CTL_ROLL_KFFD, h_ctl_roll_max_setpoint, h_ctl_roll_pgain, h_ctl_roll_rate_gain, H_CTL_ROLL_RATE_GAIN, h_ctl_roll_setpoint, h_ctl_roll_slew, h_ctl_roll_sum_err, HCtlAdaptRef::max_p, HCtlAdaptRef::max_p_dot, HCtlAdaptRef::max_q, HCtlAdaptRef::max_q_dot, register_periodic_telemetry(), send_calibration(), send_ctl_a(), send_tune_roll(), use_airspeed_ratio, v_ctl_pitch_dash_trim, and v_ctl_pitch_loiter_trim.

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h_ctl_pitch_loop()

static void h_ctl_pitch_loop ( void  )

inlinestatic

Definition at line 445 of file stabilization_attitude.c.

References h_ctl_elevator_of_roll, h_ctl_elevator_setpoint, h_ctl_pitch_dgain, h_ctl_pitch_loop_setpoint, h_ctl_pitch_pgain, h_ctl_pitch_setpoint, FloatEulers::phi, stateGetAngleOfAttack_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, TRIM_PPRZ, v_ctl_mode, and V_CTL_MODE_LANDING.

Referenced by h_ctl_attitude_loop().

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h_ctl_roll_loop()

static void h_ctl_roll_loop ( void  )

inlinestatic

Computes h_ctl_aileron_setpoint from h_ctl_roll_setpoint.

Definition at line 355 of file stabilization_attitude.c.

References h_ctl_aileron_of_throttle, h_ctl_aileron_setpoint, h_ctl_auto1_rate, h_ctl_roll_pgain, h_ctl_roll_setpoint, FloatEulers::phi, stateGetNedToBodyEulers_f(), TRIM_PPRZ, and v_ctl_throttle_setpoint.

Referenced by h_ctl_attitude_loop().

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send_calibration()

static void send_calibration ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 129 of file stabilization_attitude.c.

References dev, v_ctl_auto_throttle_submode, and v_ctl_auto_throttle_sum_err.

Referenced by h_ctl_init().

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Variable Documentation

h_ctl_aileron_of_throttle

float h_ctl_aileron_of_throttle

Definition at line 82 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

h_ctl_aileron_setpoint

pprz_t h_ctl_aileron_setpoint

Definition at line 56 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

h_ctl_auto1_rate

bool h_ctl_auto1_rate

Definition at line 50 of file stabilization_attitude.c.

Referenced by h_ctl_roll_loop().

h_ctl_course_dgain

float h_ctl_course_dgain

Definition at line 43 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_course_pgain

float h_ctl_course_pgain

Definition at line 42 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_course_pre_bank

float h_ctl_course_pre_bank

Definition at line 40 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_course_pre_bank_correction

float h_ctl_course_pre_bank_correction

Definition at line 41 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_course_setpoint

float h_ctl_course_setpoint

Definition at line 39 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_disabled

bool h_ctl_disabled

Definition at line 47 of file stabilization_attitude.c.

Referenced by h_ctl_attitude_loop(), and h_ctl_init().

h_ctl_elevator_of_roll

float h_ctl_elevator_of_roll

Definition at line 83 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_elevator_setpoint

pprz_t h_ctl_elevator_setpoint

Definition at line 64 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_pitch_dgain

float h_ctl_pitch_dgain

Definition at line 63 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_pitch_loop_setpoint

float h_ctl_pitch_loop_setpoint

Definition at line 61 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_pitch_pgain

float h_ctl_pitch_pgain

Definition at line 62 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_pitch_setpoint

float h_ctl_pitch_setpoint

Definition at line 60 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

h_ctl_roll_attitude_gain

float h_ctl_roll_attitude_gain

Definition at line 119 of file stabilization_attitude.c.

Referenced by h_ctl_init().

h_ctl_roll_max_setpoint

float h_ctl_roll_max_setpoint

Definition at line 44 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

h_ctl_roll_pgain

float h_ctl_roll_pgain

Definition at line 55 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

h_ctl_roll_rate_gain

float h_ctl_roll_rate_gain

Definition at line 120 of file stabilization_attitude.c.

Referenced by h_ctl_init().

h_ctl_roll_setpoint

float h_ctl_roll_setpoint

Definition at line 54 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), h_ctl_init(), and h_ctl_roll_loop().

h_ctl_roll_slew

float h_ctl_roll_slew

Definition at line 57 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().