guidance_v_ref.h

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/*
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 * Copyright (C) 2013 Gautier Hattenberger
 *
 * 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, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef GUIDANCE_V_REF_H
#define GUIDANCE_V_REF_H

#include "inttypes.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
#include "generated/airframe.h"

#ifndef GUIDANCE_V_REF_MIN_ZD
#define GUIDANCE_V_REF_MIN_ZD (-3.)
#endif

#ifndef GUIDANCE_V_REF_MAX_ZD
#define GUIDANCE_V_REF_MAX_ZD ( 3.)
#endif


#define GV_FREQ_FRAC 9
#define GV_FREQ (1<<GV_FREQ_FRAC)

extern int32_t gv_zdd_ref;

#define GV_ZDD_REF_FRAC 8

extern int32_t gv_zd_ref;

#define GV_ZD_REF_FRAC (GV_ZDD_REF_FRAC + GV_FREQ_FRAC)

extern int64_t gv_z_ref;

#define GV_Z_REF_FRAC (GV_ZD_REF_FRAC + GV_FREQ_FRAC)

extern void gv_set_ref(int32_t alt, int32_t speed, int32_t accel);
extern void gv_update_ref_from_z_sp(int32_t z_sp);

extern void gv_update_ref_from_zd_sp(int32_t zd_sp, int32_t z_pos);

#endif /* GUIDANCE_V_REF_H */