guidance_indi.h File Reference

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to ICRA2016 to learn more! More...

#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)
void	guidance_indi_run (bool_t in_flight, int32_t heading)
void	guidance_indi_filter_attitude (void)
void	guidance_indi_calcG (struct FloatMat33 *Gmat)
void	guidance_indi_filter_accel (void)
void	stabilization_attitude_set_setpoint_rp_quat_f (bool_t in_flight, int32_t heading)

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion Come to ICRA2016 to learn more!

Definition in file guidance_indi.h.

Function Documentation

void guidance_indi_calcG

(

struct FloatMat33 *

Gmat

)

Definition at line 162 of file guidance_indi.c.

References FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by guidance_indi_run().

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void guidance_indi_enter

(

void

)

Definition at line 70 of file guidance_indi.c.

References filt_accel_ned, filt_accel_ned_d, filt_accel_ned_dd, filt_accelzbody, filt_accelzbodyd, filt_accelzbodydd, FLOAT_VECT3_ZERO, pitch_filt, pitch_filtd, pitch_filtdd, roll_filt, roll_filtd, and roll_filtdd.

Referenced by guidance_h_init(), and guidance_h_mode_changed().

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void guidance_indi_filter_accel

(

void

)

Definition at line 134 of file guidance_indi.c.

References filt_accel_ned, filt_accel_ned_d, filt_accel_ned_dd, filter_omega, filter_zeta, PERIODIC_FREQUENCY, stateGetAccelNed_f(), VECT3_ADD_SCALED, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_indi_run().

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void guidance_indi_filter_attitude

(

void

)

Definition at line 148 of file guidance_indi.c.

References filter_omega, filter_zeta, PERIODIC_FREQUENCY, FloatEulers::phi, pitch_filt, pitch_filtd, pitch_filtdd, roll_filt, roll_filtd, roll_filtdd, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by guidance_indi_run().

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void guidance_indi_run	(	bool_t	in_flight,
		int32_t	heading
	)

Definition at line 85 of file guidance_indi.c.

References euler_cmd, filt_accel_ned, Ga, Ga_inv, guidance_euler_cmd, guidance_h, GUIDANCE_H_MAX_BANK, guidance_indi_calcG(), guidance_indi_filter_accel(), guidance_indi_filter_attitude(), guidance_indi_pos_gain, guidance_indi_speed_gain, guidance_v_z_sp, MAT33_INV, MAT33_VECT3_MUL, FloatEulers::phi, pitch_filt, HorizontalGuidanceReference::pos, POS_FLOAT_OF_BFP, FloatEulers::psi, HorizontalGuidance::ref, roll_filt, stabilization_attitude_set_setpoint_rp_quat_f(), stateGetPositionNed_f(), stateGetSpeedNed_f(), FloatEulers::theta, FloatVect3::x, NedCoor_f::x, Int32Vect2::x, FloatVect3::y, NedCoor_f::y, Int32Vect2::y, FloatVect3::z, and NedCoor_f::z.

Referenced by guidance_h_run().

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void stabilization_attitude_set_setpoint_rp_quat_f	(	bool_t	in_flight,
		int32_t	heading
	)

Definition at line 187 of file guidance_indi.c.

References ANGLE_FLOAT_OF_BFP, float_quat_comp(), float_quat_comp_inv(), float_quat_comp_norm_shortest(), float_quat_normalize(), float_quat_of_axis_angle(), float_quat_of_eulers(), guidance_euler_cmd, QUAT_BFP_OF_REAL, QUAT_COPY, stab_att_sp_quat, and stateGetNedToBodyEulers_f().

Referenced by guidance_indi_run().

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