static void guidance_h_update_reference(void)
{
/* compute reference even if usage temporarily disabled via guidance_h_use_ref */
#if GUIDANCE_H_USE_REF
if (bit_is_set(guidance_h.sp.mask, 5)) {
gh_update_ref_from_speed_sp(guidance_h.sp.speed);
} else {
gh_update_ref_from_pos_sp(guidance_h.sp.pos);
}
#endif
/* either use the reference or simply copy the pos setpoint */
if (guidance_h.use_ref) {
/* convert our reference to generic representation */
INT32_VECT2_RSHIFT(guidance_h.ref.pos, gh_ref.pos, (GH_POS_REF_FRAC - INT32_POS_FRAC));
INT32_VECT2_LSHIFT(guidance_h.ref.speed, gh_ref.speed, (INT32_SPEED_FRAC - GH_SPEED_REF_FRAC));
INT32_VECT2_LSHIFT(guidance_h.ref.accel, gh_ref.accel, (INT32_ACCEL_FRAC - GH_ACCEL_REF_FRAC));
} else {
VECT2_COPY(guidance_h.ref.pos, guidance_h.sp.pos);
INT_VECT2_ZERO(guidance_h.ref.speed);
INT_VECT2_ZERO(guidance_h.ref.accel);
}
#if GUIDANCE_H_USE_SPEED_REF
if (guidance_h.mode == GUIDANCE_H_MODE_HOVER) {
VECT2_COPY(guidance_h.sp.pos, guidance_h.ref.pos); // for display only
}
#endif
/* update heading setpoint from rate */
if (bit_is_set(guidance_h.sp.mask, 7)) {
guidance_h.sp.heading += (guidance_h.sp.heading_rate >> (INT32_ANGLE_FRAC - INT32_RATE_FRAC)) / PERIODIC_FREQUENCY;
INT32_ANGLE_NORMALIZE(guidance_h.sp.heading);
}
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
}
static inline void reset_guidance_reference_from_current_position(void)
{
VECT2_COPY(guidance_h.ref.pos, *stateGetPositionNed_i());
VECT2_COPY(guidance_h.ref.speed, *stateGetSpeedNed_i());
INT_VECT2_ZERO(guidance_h.ref.accel);
gh_set_ref(guidance_h.ref.pos, guidance_h.ref.speed, guidance_h.ref.accel);
INT_VECT2_ZERO(guidance_h_trim_att_integrator);
}
void gps_sim_hitl_event(void)
{
if (SysTimeTimer(gps_sim_hitl_timer) > 100000) {
SysTimeTimerStart(gps_sim_hitl_timer);
gps.last_msg_ticks = sys_time.nb_sec_rem;
gps.last_msg_time = sys_time.nb_sec;
if (state.ned_initialized_i) {
if (!autopilot_in_flight) {
struct Int32Vect2 zero_vector;
INT_VECT2_ZERO(zero_vector);
gh_set_ref(zero_vector, zero_vector, zero_vector);
INT_VECT2_ZERO(guidance_h.ref.pos);
INT_VECT2_ZERO(guidance_h.ref.speed);
INT_VECT2_ZERO(guidance_h.ref.accel);
gv_set_ref(0, 0, 0);
guidance_v_z_ref = 0;
guidance_v_zd_ref = 0;
guidance_v_zdd_ref = 0;
}
struct NedCoor_i ned_c;
ned_c.x = guidance_h.ref.pos.x * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ned_c.y = guidance_h.ref.pos.y * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ned_c.z = guidance_v_z_ref * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ecef_of_ned_point_i(&gps.ecef_pos, &state.ned_origin_i, &ned_c);
gps.lla_pos.alt = state.ned_origin_i.lla.alt - ned_c.z;
gps.hmsl = state.ned_origin_i.hmsl - ned_c.z;
ned_c.x = guidance_h.ref.speed.x * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ned_c.y = guidance_h.ref.speed.y * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ned_c.z = guidance_v_zd_ref * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ecef_of_ned_vect_i(&gps.ecef_vel, &state.ned_origin_i, &ned_c);
gps.fix = GPS_FIX_3D;
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
gps_available = true;
}
else {
struct Int32Vect2 zero_vector;
INT_VECT2_ZERO(zero_vector);
gh_set_ref(zero_vector, zero_vector, zero_vector);
gv_set_ref(0, 0, 0);
}
// publish gps data
uint32_t now_ts = get_sys_time_usec();
gps.last_msg_ticks = sys_time.nb_sec_rem;
gps.last_msg_time = sys_time.nb_sec;
if (gps.fix == GPS_FIX_3D) {
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
}
AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps);
}
}
