Ejemplos de stabilization_none_run en C++ (Cpp)

Ejemplo n.º 1

Archivo: guidance_h.c Proyecto: lethargi/paparazzi

void guidance_h_run(bool  in_flight)
{
  switch (guidance_h.mode) {

    case GUIDANCE_H_MODE_RC_DIRECT:
      stabilization_none_run(in_flight);
      break;

#if USE_STABILIZATION_RATE
    case GUIDANCE_H_MODE_RATE:
      stabilization_rate_run(in_flight);
      break;
#endif

    case GUIDANCE_H_MODE_FORWARD:
      if (transition_percentage < (100 << INT32_PERCENTAGE_FRAC)) {
        transition_run(true);
      }
    case GUIDANCE_H_MODE_CARE_FREE:
    case GUIDANCE_H_MODE_ATTITUDE:
      if ((!(guidance_h.mode == GUIDANCE_H_MODE_FORWARD)) && transition_percentage > 0) {
        transition_run(false);
      }
      stabilization_attitude_run(in_flight);
      break;

    case GUIDANCE_H_MODE_HOVER:
      /* set psi command from RC */
      guidance_h.sp.heading = guidance_h.rc_sp.psi;
      /* fall trough to GUIDED to update ref, run traj and set final attitude setpoint */

    case GUIDANCE_H_MODE_GUIDED:
      guidance_h_guided_run(in_flight);
      break;

    case GUIDANCE_H_MODE_NAV:
      guidance_h_from_nav(in_flight);
      break;

#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
    case GUIDANCE_H_MODE_MODULE:
      guidance_h_module_run(in_flight);
      break;
#endif

    case GUIDANCE_H_MODE_FLIP:
      guidance_flip_run();
      break;

    default:
      break;
  }
}

Ejemplo n.º 2

Archivo: guidance_h.c Proyecto: enacuavlab/paparazzi

void guidance_h_run(bool  in_flight)
{
  switch (guidance_h.mode) {

    case GUIDANCE_H_MODE_RC_DIRECT:
      stabilization_none_run(in_flight);
      break;

#if USE_STABILIZATION_RATE
    case GUIDANCE_H_MODE_RATE:
      stabilization_rate_run(in_flight);
      break;
#endif

    case GUIDANCE_H_MODE_FORWARD:
      if (transition_percentage < (100 << INT32_PERCENTAGE_FRAC)) {
        transition_run();
      }
    case GUIDANCE_H_MODE_CARE_FREE:
    case GUIDANCE_H_MODE_ATTITUDE:
      stabilization_attitude_run(in_flight);
      break;

    case GUIDANCE_H_MODE_HOVER:
      /* set psi command from RC */
      guidance_h.sp.heading = guidance_h.rc_sp.psi;
      /* fall trough to GUIDED to update ref, run traj and set final attitude setpoint */

    case GUIDANCE_H_MODE_GUIDED:
      /* guidance_h.sp.pos and guidance_h.sp.heading need to be set from external source */
      if (!in_flight) {
        guidance_h_hover_enter();
      }

      guidance_h_update_reference();

#if GUIDANCE_INDI
      guidance_indi_run(in_flight, guidance_h.sp.heading);
#else
      /* compute x,y earth commands */
      guidance_h_traj_run(in_flight);
      /* set final attitude setpoint */
      stabilization_attitude_set_earth_cmd_i(&guidance_h_cmd_earth, guidance_h.sp.heading);
#endif
      stabilization_attitude_run(in_flight);
      break;

    case GUIDANCE_H_MODE_NAV:
      if (!in_flight) {
        guidance_h_nav_enter();
      }

      if (horizontal_mode == HORIZONTAL_MODE_MANUAL) {
        stabilization_cmd[COMMAND_ROLL]  = nav_cmd_roll;
        stabilization_cmd[COMMAND_PITCH] = nav_cmd_pitch;
        stabilization_cmd[COMMAND_YAW]   = nav_cmd_yaw;
      } else if (horizontal_mode == HORIZONTAL_MODE_ATTITUDE) {
        struct Int32Eulers sp_cmd_i;
        sp_cmd_i.phi = nav_roll;
        sp_cmd_i.theta = nav_pitch;
        sp_cmd_i.psi = nav_heading;
        stabilization_attitude_set_rpy_setpoint_i(&sp_cmd_i);
        stabilization_attitude_run(in_flight);

#if HYBRID_NAVIGATION
        //make sure the heading is right before leaving horizontal_mode attitude
        guidance_hybrid_reset_heading(&sp_cmd_i);
#endif
      } else {

#if HYBRID_NAVIGATION
        INT32_VECT2_NED_OF_ENU(guidance_h.sp.pos, navigation_target);
        guidance_hybrid_run();
#else
        INT32_VECT2_NED_OF_ENU(guidance_h.sp.pos, navigation_carrot);

        guidance_h_update_reference();

        /* set psi command */
        guidance_h.sp.heading = nav_heading;
        INT32_ANGLE_NORMALIZE(guidance_h.sp.heading);

#if GUIDANCE_INDI
        guidance_indi_run(in_flight, guidance_h.sp.heading);
#else
        /* compute x,y earth commands */
        guidance_h_traj_run(in_flight);
        /* set final attitude setpoint */
        stabilization_attitude_set_earth_cmd_i(&guidance_h_cmd_earth,
                                               guidance_h.sp.heading);
#endif

#endif
        stabilization_attitude_run(in_flight);
      }
      break;

#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
    case GUIDANCE_H_MODE_MODULE:
      guidance_h_module_run(in_flight);
      break;
#endif

    case GUIDANCE_H_MODE_FLIP:
      guidance_flip_run();
      break;

    default:
      break;
  }
}