C++ (Cpp) guidance_indi_enter Examples

Example #1

void guidance_h_init(void)
{

  guidance_h.mode = GUIDANCE_H_MODE_KILL;
  guidance_h.use_ref = GUIDANCE_H_USE_REF;
  guidance_h.approx_force_by_thrust = GUIDANCE_H_APPROX_FORCE_BY_THRUST;

  INT_VECT2_ZERO(guidance_h.sp.pos);
  INT_VECT2_ZERO(guidance_h_trim_att_integrator);
  INT_EULERS_ZERO(guidance_h.rc_sp);
  guidance_h.sp.heading = 0;
  guidance_h.sp.heading_rate = 0;
  guidance_h.gains.p = GUIDANCE_H_PGAIN;
  guidance_h.gains.i = GUIDANCE_H_IGAIN;
  guidance_h.gains.d = GUIDANCE_H_DGAIN;
  guidance_h.gains.a = GUIDANCE_H_AGAIN;
  guidance_h.gains.v = GUIDANCE_H_VGAIN;
  transition_percentage = 0;
  transition_theta_offset = 0;

  gh_ref_init();

#if GUIDANCE_H_MODE_MODULE_SETTING == GUIDANCE_H_MODE_MODULE
  guidance_h_module_init();
#endif

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GUIDANCE_H_INT, send_gh);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_HOVER_LOOP, send_hover_loop);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GUIDANCE_H_REF_INT, send_href);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_TUNE_HOVER, send_tune_hover);
#endif

#if GUIDANCE_INDI
  guidance_indi_enter();
#endif

#if HYBRID_NAVIGATION
  guidance_hybrid_init();
#endif
}

Example #2

File: guidance_h.c Project: lethargi/paparazzi

void guidance_h_mode_changed(uint8_t new_mode)
{
  if (new_mode == guidance_h.mode) {
    return;
  }

#if HYBRID_NAVIGATION
  guidance_hybrid_norm_ref_airspeed = 0;
#endif

  switch (new_mode) {
    case GUIDANCE_H_MODE_RC_DIRECT:
      stabilization_none_enter();
      break;

#if USE_STABILIZATION_RATE
    case GUIDANCE_H_MODE_RATE:
      stabilization_rate_enter();
      break;
#endif

    case GUIDANCE_H_MODE_CARE_FREE:
      stabilization_attitude_reset_care_free_heading();
    case GUIDANCE_H_MODE_FORWARD:
    case GUIDANCE_H_MODE_ATTITUDE:
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
      /* reset attitude stabilization if previous mode was not using it */
      if (guidance_h.mode == GUIDANCE_H_MODE_KILL ||
          guidance_h.mode == GUIDANCE_H_MODE_RATE ||
          guidance_h.mode == GUIDANCE_H_MODE_RC_DIRECT)
#endif
        stabilization_attitude_enter();
      break;

    case GUIDANCE_H_MODE_GUIDED:
    case GUIDANCE_H_MODE_HOVER:
#if GUIDANCE_INDI
      guidance_indi_enter();
#endif
      guidance_h_hover_enter();
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
      /* reset attitude stabilization if previous mode was not using it */
      if (guidance_h.mode == GUIDANCE_H_MODE_KILL ||
          guidance_h.mode == GUIDANCE_H_MODE_RATE ||
          guidance_h.mode == GUIDANCE_H_MODE_RC_DIRECT)
#endif
        stabilization_attitude_enter();
      break;

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

    case GUIDANCE_H_MODE_NAV:
      guidance_h_nav_enter();
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
      /* reset attitude stabilization if previous mode was not using it */
      if (guidance_h.mode == GUIDANCE_H_MODE_KILL ||
          guidance_h.mode == GUIDANCE_H_MODE_RATE ||
          guidance_h.mode == GUIDANCE_H_MODE_RC_DIRECT)
#endif
        stabilization_attitude_enter();
      break;

    case GUIDANCE_H_MODE_FLIP:
      guidance_flip_enter();
      break;

    default:
      break;
  }

  guidance_h.mode = new_mode;

}