alt_ctrl.h File Reference

Vertical control: height -> climb rate -> collective thrust. More...

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Data Structures
struct	alt_ctrl_t

Functions
void	alt_ctrl_init (alt_ctrl_t *c, float hover)
void	alt_ctrl_reset (alt_ctrl_t *c, float integ)
float	alt_ctrl_vz_sp (const alt_ctrl_t *c, float h_sp, float h, float vz_up, float vz_dn)
float	alt_ctrl_step (alt_ctrl_t *c, float vz_sp, float vz, float cos_tilt, float dt)

Detailed Description

Vertical control: height -> climb rate -> collective thrust.

vz_sp = clamp(kp_h * (h_sp - h), -vz_dn, +vz_up) (or from the stick) thrust = (hover + kp_v * (vz_sp - vz) + I) / cos(tilt), I += ki_v * e * dt

The integrator learns the hover thrust. Output 0..1 (collective), clamped. Host-testable.

Definition in file alt_ctrl.h.

Function Documentation

alt_ctrl_init()

void alt_ctrl_init	(	alt_ctrl_t *	c,
		float	hover
	)

Definition at line 8 of file alt_ctrl.c.

References alt_ctrl_t::hover, alt_ctrl_t::i_lim, alt_ctrl_t::integ, alt_ctrl_t::ki_v, alt_ctrl_t::kp_h, alt_ctrl_t::kp_v, alt_ctrl_t::thr_max, and alt_ctrl_t::thr_min.

Referenced by fc_init().

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alt_ctrl_reset()

void alt_ctrl_reset	(	alt_ctrl_t *	c,
		float	integ
	)

Definition at line 17 of file alt_ctrl.c.

References clampf(), alt_ctrl_t::i_lim, and alt_ctrl_t::integ.

Referenced by exec().

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alt_ctrl_vz_sp()

float alt_ctrl_vz_sp	(	const alt_ctrl_t *	c,
		float	h_sp,
		float	h,
		float	vz_up,
		float	vz_dn
	)

Definition at line 19 of file alt_ctrl.c.

References clampf(), and alt_ctrl_t::kp_h.

Referenced by setpoints().

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alt_ctrl_step()

float alt_ctrl_step	(	alt_ctrl_t *	c,
		float	vz_sp,
		float	vz,
		float	cos_tilt,
		float	dt
	)

Definition at line 24 of file alt_ctrl.c.

References clampf(), alt_ctrl_t::hover, alt_ctrl_t::i_lim, alt_ctrl_t::integ, alt_ctrl_t::ki_v, alt_ctrl_t::kp_v, alt_ctrl_t::thr_max, and alt_ctrl_t::thr_min.

Referenced by setpoints().

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