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guidance_v.h File Reference

Vertical guidance for rotorcrafts. More...

#include "std.h"
#include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
#include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"
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Go to the source code of this file.

Macros

#define GUIDANCE_V_MODE_KILL   0
 
#define GUIDANCE_V_MODE_RC_DIRECT   1
 
#define GUIDANCE_V_MODE_RC_CLIMB   2
 
#define GUIDANCE_V_MODE_CLIMB   3
 
#define GUIDANCE_V_MODE_HOVER   4
 
#define GUIDANCE_V_MODE_NAV   5
 
#define GUIDANCE_V_MODE_MODULE   6
 
#define GUIDANCE_V_MODE_FLIP   7
 
#define GUIDANCE_V_MODE_GUIDED   8
 
#define guidance_v_SetKi(_val)
 

Functions

void guidance_v_init (void)
 
void guidance_v_read_rc (void)
 
void guidance_v_mode_changed (uint8_t new_mode)
 
void guidance_v_notify_in_flight (bool_t in_flight)
 
void guidance_v_run (bool_t in_flight)
 
bool_t guidance_v_set_guided_z (float z)
 Set z setpoint in GUIDED mode. More...
 

Variables

uint8_t guidance_v_mode
 
int32_t guidance_v_z_sp
 altitude setpoint in meters (input). More...
 
int32_t guidance_v_zd_sp
 vertical speed setpoint in meter/s (input). More...
 
int32_t guidance_v_z_ref
 altitude reference in meters. More...
 
int32_t guidance_v_zd_ref
 vertical speed reference in meter/s. More...
 
int32_t guidance_v_zdd_ref
 vertical acceleration reference in meter/s^2. More...
 
int32_t guidance_v_z_sum_err
 accumulator for I-gain More...
 
int32_t guidance_v_ff_cmd
 feed-forward command More...
 
int32_t guidance_v_fb_cmd
 feed-back command More...
 
int32_t guidance_v_delta_t
 thrust command. More...
 
float guidance_v_nominal_throttle
 nominal throttle for hover. More...
 
bool_t guidance_v_adapt_throttle_enabled
 Use adaptive throttle command estimation. More...
 
int32_t guidance_v_thrust_coeff
 
int32_t guidance_v_kp
 vertical control P-gain More...
 
int32_t guidance_v_kd
 vertical control D-gain More...
 
int32_t guidance_v_ki
 vertical control I-gain More...
 

Detailed Description

Vertical guidance for rotorcrafts.

Definition in file guidance_v.h.

Macro Definition Documentation

#define GUIDANCE_V_MODE_CLIMB   3

Definition at line 38 of file guidance_v.h.

Referenced by autopilot_set_mode(), guidance_v_mode_changed(), guidance_v_run(), vi_init(), and vi_periodic().

#define GUIDANCE_V_MODE_FLIP   7

Definition at line 42 of file guidance_v.h.

Referenced by autopilot_set_mode(), guidance_v_mode_changed(), and guidance_v_run().

#define GUIDANCE_V_MODE_GUIDED   8

Definition at line 43 of file guidance_v.h.

Referenced by autopilot_set_mode(), guidance_v_mode_changed(), guidance_v_run(), and guidance_v_set_guided_z().

#define GUIDANCE_V_MODE_HOVER   4

Definition at line 39 of file guidance_v.h.

Referenced by autopilot_set_mode(), booz_fms_impl_init(), booz_fms_impl_periodic(), guidance_v_mode_changed(), and guidance_v_run().

#define GUIDANCE_V_MODE_KILL   0

Definition at line 35 of file guidance_v.h.

Referenced by autopilot_set_mode(), and guidance_v_init().

#define GUIDANCE_V_MODE_MODULE   6

Definition at line 41 of file guidance_v.h.

Referenced by guidance_v_mode_changed(), and guidance_v_run().

#define GUIDANCE_V_MODE_NAV   5

Definition at line 40 of file guidance_v.h.

Referenced by autopilot_set_mode(), guidance_v_mode_changed(), and guidance_v_run().

#define GUIDANCE_V_MODE_RC_CLIMB   2

Definition at line 37 of file guidance_v.h.

Referenced by autopilot_set_mode(), guidance_v_mode_changed(), and guidance_v_run().

#define GUIDANCE_V_MODE_RC_DIRECT   1

Definition at line 36 of file guidance_v.h.

Referenced by autopilot_set_mode(), and guidance_v_run().

#define guidance_v_SetKi (   _val)
Value:
{ \
guidance_v_ki = _val; \
guidance_v_z_sum_err = 0; \
}
guidance_v_z_sum_err
int32_t guidance_v_z_sum_err
accumulator for I-gain
Definition: guidance_v.c:128
guidance_v_ki
int32_t guidance_v_ki
vertical control I-gain
Definition: guidance_v.c:126

Definition at line 116 of file guidance_v.h.

Function Documentation

void guidance_v_init ( void  )

Definition at line 174 of file guidance_v.c.

References DefaultPeriodic, GUIDANCE_V_ADAPT_THROTTLE_ENABLED, GUIDANCE_V_MODE_KILL, guidance_v_module_init(), GUIDANCE_V_NOMINAL_HOVER_THROTTLE, gv_adapt_init(), and register_periodic_telemetry().

Referenced by autopilot_init().

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void guidance_v_mode_changed ( uint8_t  new_mode)

Definition at line 223 of file guidance_v.c.

References GUIDANCE_V_MODE_CLIMB, GUIDANCE_V_MODE_FLIP, GUIDANCE_V_MODE_GUIDED, GUIDANCE_V_MODE_HOVER, GUIDANCE_V_MODE_MODULE, GUIDANCE_V_MODE_NAV, GUIDANCE_V_MODE_RC_CLIMB, guidance_v_module_enter(), GuidanceVSetRef, stateGetPositionNed_i(), stateGetSpeedNed_i(), FloatVect3::z, and NedCoor_i::z.

Referenced by autopilot_set_mode().

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void guidance_v_notify_in_flight ( bool_t  in_flight)

Definition at line 264 of file guidance_v.c.

References gv_adapt_init().

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void guidance_v_read_rc ( void  )

Definition at line 201 of file guidance_v.c.

References GUIDANCE_V_CLIMB_RC_DEADBAND, GUIDANCE_V_MAX_RC_CLIMB_SPEED, GUIDANCE_V_MAX_RC_DESCENT_SPEED, MAX_PPRZ, radio_control, RADIO_THROTTLE, SPEED_BFP_OF_REAL, and RadioControl::values.

Referenced by autopilot_on_rc_frame().

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void guidance_v_run ( bool_t  in_flight)

Definition at line 272 of file guidance_v.c.

References get_vertical_thrust_coeff(), guidance_v_delta_t, GUIDANCE_V_MODE_CLIMB, GUIDANCE_V_MODE_FLIP, GUIDANCE_V_MODE_GUIDED, GUIDANCE_V_MODE_HOVER, GUIDANCE_V_MODE_MODULE, GUIDANCE_V_MODE_NAV, GUIDANCE_V_MODE_RC_CLIMB, GUIDANCE_V_MODE_RC_DIRECT, guidance_v_module_run(), guidance_v_rc_delta_t, guidance_v_rc_zd_sp, guidance_v_thrust_coeff, GuidanceVSetRef, gv_adapt_init(), gv_adapt_run(), gv_update_ref_from_z_sp(), gv_update_ref_from_zd_sp(), INT32_TRIG_FRAC, Min, nav_climb, nav_flight_altitude, nav_throttle, radio_control, RC_OK, run_hover_loop(), stabilization_cmd, stateGetAccelNed_i(), stateGetPositionNed_i(), stateGetSpeedNed_i(), RadioControl::status, vertical_mode, VERTICAL_MODE_ALT, VERTICAL_MODE_CLIMB, VERTICAL_MODE_MANUAL, FloatVect3::z, and NedCoor_i::z.

Referenced by autopilot_periodic().

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bool_t guidance_v_set_guided_z ( float  z)

Set z setpoint in GUIDED mode.

Parameters
zSetpoint (down is positive) in meters.
Returns
TRUE if setpoint was set (currently in GUIDANCE_V_MODE_GUIDED)

Definition at line 453 of file guidance_v.c.

References FALSE, GUIDANCE_V_MODE_GUIDED, POS_BFP_OF_REAL, and TRUE.

Referenced by autopilot_guided_goto_ned().

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Variable Documentation

bool_t guidance_v_adapt_throttle_enabled

Use adaptive throttle command estimation.

Definition at line 104 of file guidance_v.c.

int32_t guidance_v_delta_t

thrust command.

summation of feed-forward and feed-back commands, valid range 0 : MAX_PPRZ

Definition at line 101 of file guidance_v.c.

Referenced by guidance_v_run().

int32_t guidance_v_fb_cmd

feed-back command

Definition at line 100 of file guidance_v.c.

Referenced by run_hover_loop().

int32_t guidance_v_ff_cmd

feed-forward command

Definition at line 99 of file guidance_v.c.

int32_t guidance_v_kd

vertical control D-gain

Definition at line 125 of file guidance_v.c.

int32_t guidance_v_ki

vertical control I-gain

Definition at line 126 of file guidance_v.c.

int32_t guidance_v_kp

vertical control P-gain

Definition at line 124 of file guidance_v.c.

uint8_t guidance_v_mode

Definition at line 98 of file guidance_v.c.

Referenced by booz_fms_impl_periodic(), and send_status().

float guidance_v_nominal_throttle

nominal throttle for hover.

This is only used if GUIDANCE_V_NOMINAL_HOVER_THROTTLE is defined! Unit: factor of MAX_PPRZ with range 0.1 : 0.9

Definition at line 103 of file guidance_v.c.

int32_t guidance_v_thrust_coeff

Definition at line 130 of file guidance_v.c.

Referenced by guidance_h_traj_run(), and guidance_v_run().

int32_t guidance_v_z_ref

altitude reference in meters.

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 120 of file guidance_v.c.

Referenced by gps_sim_hitl_event().

int32_t guidance_v_z_sp

altitude setpoint in meters (input).

fixed point representation: Q23.8 accuracy 0.0039, range 8388km

Definition at line 118 of file guidance_v.c.

Referenced by guidance_indi_run(), and send_fp().

int32_t guidance_v_z_sum_err

accumulator for I-gain

Definition at line 128 of file guidance_v.c.

Referenced by run_hover_loop().

int32_t guidance_v_zd_ref

vertical speed reference in meter/s.

fixed point representation: Q12.19 accuracy 0.0000038, range 4096

Definition at line 121 of file guidance_v.c.

Referenced by gps_sim_hitl_event().

int32_t guidance_v_zd_sp

vertical speed setpoint in meter/s (input).

fixed point representation: Q12.19 accuracy 0.0000019, range +/-4096

Definition at line 119 of file guidance_v.c.

Referenced by autopilot_set_mode().

int32_t guidance_v_zdd_ref

vertical acceleration reference in meter/s^2.

fixed point representation: Q21.10 accuracy 0.0009766, range 2097152

Definition at line 122 of file guidance_v.c.

Referenced by gps_sim_hitl_event().