mode_poshold.cpp File Reference

#include "Copter.h"

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Macros
#define	POSHOLD_SPEED_0   10
#define	POSHOLD_BRAKE_TIME_ESTIMATE_MAX   (600*4)
#define	POSHOLD_BRAKE_TO_LOITER_TIMER   (150*4)
#define	POSHOLD_WIND_COMP_START_TIMER   (150*4)
#define	POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER   (50*4)
#define	POSHOLD_SMOOTH_RATE_FACTOR   0.0125f
#define	POSHOLD_WIND_COMP_TIMER_10HZ   40
#define	LOOP_RATE_FACTOR   4
#define	TC_WIND_COMP   0.0025f
#define	POSHOLD_STICK_RELEASE_SMOOTH_ANGLE   1800
#define	POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX   10

Enumerations
enum	poshold_rp_mode {   POSHOLD_PILOT_OVERRIDE =0, POSHOLD_BRAKE, POSHOLD_BRAKE_READY_TO_LOITER, POSHOLD_BRAKE_TO_LOITER,   POSHOLD_LOITER, POSHOLD_CONTROLLER_TO_PILOT_OVERRIDE }

Variables
struct {
poshold_rp_mode   roll_mode: 3
poshold_rp_mode   pitch_mode: 3
uint8_t   braking_time_updated_roll: 1
uint8_t   braking_time_updated_pitch: 1
float   pilot_roll
float   pilot_pitch
float   brake_gain
int16_t   brake_roll
int16_t   brake_pitch
int16_t   brake_timeout_roll
int16_t   brake_timeout_pitch
int16_t   brake_angle_max_roll
int16_t   brake_angle_max_pitch
int16_t   brake_to_loiter_timer
int16_t   controller_to_pilot_timer_roll
int16_t   controller_to_pilot_timer_pitch
int16_t   controller_final_roll
int16_t   controller_final_pitch
Vector2f   wind_comp_ef
int16_t   wind_comp_roll
int16_t   wind_comp_pitch
uint16_t   wind_comp_start_timer
int8_t   wind_comp_timer
int16_t   roll
int16_t   pitch
}	poshold

Macro Definition Documentation

LOOP_RATE_FACTOR

#define LOOP_RATE_FACTOR   4

Definition at line 17 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_update_pilot_lean_angle(), and Copter::ModePosHold::run().

POSHOLD_BRAKE_TIME_ESTIMATE_MAX

#define POSHOLD_BRAKE_TIME_ESTIMATE_MAX   (600*4)

Definition at line 11 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::run().

POSHOLD_BRAKE_TO_LOITER_TIMER

#define POSHOLD_BRAKE_TO_LOITER_TIMER   (150*4)

Definition at line 12 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::run().

POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER

#define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER   (50*4)

Definition at line 14 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_pitch_controller_to_pilot_override(), Copter::ModePosHold::poshold_roll_controller_to_pilot_override(), and Copter::ModePosHold::run().

POSHOLD_SMOOTH_RATE_FACTOR

#define POSHOLD_SMOOTH_RATE_FACTOR   0.0125f

Definition at line 15 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_update_pilot_lean_angle().

POSHOLD_SPEED_0

#define POSHOLD_SPEED_0   10

Definition at line 8 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::run().

POSHOLD_STICK_RELEASE_SMOOTH_ANGLE

#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE   1800

Definition at line 21 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_update_pilot_lean_angle().

POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX

#define POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX   10

Definition at line 22 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_update_wind_comp_estimate().

POSHOLD_WIND_COMP_START_TIMER

#define POSHOLD_WIND_COMP_START_TIMER   (150*4)

Definition at line 13 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::run().

POSHOLD_WIND_COMP_TIMER_10HZ

#define POSHOLD_WIND_COMP_TIMER_10HZ   40

Definition at line 16 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_get_wind_comp_lean_angles().

TC_WIND_COMP

#define TC_WIND_COMP   0.0025f

Definition at line 18 of file mode_poshold.cpp.

Referenced by Copter::ModePosHold::poshold_update_wind_comp_estimate().

Enumeration Type Documentation

poshold_rp_mode

enum poshold_rp_mode

Enumerator
POSHOLD_PILOT_OVERRIDE
POSHOLD_BRAKE
POSHOLD_BRAKE_READY_TO_LOITER
POSHOLD_BRAKE_TO_LOITER
POSHOLD_LOITER
POSHOLD_CONTROLLER_TO_PILOT_OVERRIDE

Definition at line 25 of file mode_poshold.cpp.

Variable Documentation

brake_angle_max_pitch

int16_t brake_angle_max_pitch

Definition at line 51 of file mode_poshold.cpp.

brake_angle_max_roll

int16_t brake_angle_max_roll

Definition at line 50 of file mode_poshold.cpp.

brake_gain

float brake_gain

Definition at line 45 of file mode_poshold.cpp.

Referenced by Copter::ModeFlowHold::flowhold_flow_to_angle().

brake_pitch

int16_t brake_pitch

Definition at line 47 of file mode_poshold.cpp.

brake_roll

int16_t brake_roll

Definition at line 46 of file mode_poshold.cpp.

brake_timeout_pitch

int16_t brake_timeout_pitch

Definition at line 49 of file mode_poshold.cpp.

brake_timeout_roll

int16_t brake_timeout_roll

Definition at line 48 of file mode_poshold.cpp.

brake_to_loiter_timer

int16_t brake_to_loiter_timer

Definition at line 52 of file mode_poshold.cpp.

braking_time_updated_pitch

uint8_t braking_time_updated_pitch

Definition at line 38 of file mode_poshold.cpp.

braking_time_updated_roll

uint8_t braking_time_updated_roll

Definition at line 37 of file mode_poshold.cpp.

controller_final_pitch

int16_t controller_final_pitch

Definition at line 58 of file mode_poshold.cpp.

controller_final_roll

int16_t controller_final_roll

Definition at line 57 of file mode_poshold.cpp.

controller_to_pilot_timer_pitch

int16_t controller_to_pilot_timer_pitch

Definition at line 56 of file mode_poshold.cpp.

controller_to_pilot_timer_roll

int16_t controller_to_pilot_timer_roll

Definition at line 55 of file mode_poshold.cpp.

pilot_pitch

float pilot_pitch

Definition at line 42 of file mode_poshold.cpp.

pilot_roll

float pilot_roll

Definition at line 41 of file mode_poshold.cpp.

pitch

int16_t pitch

Definition at line 69 of file mode_poshold.cpp.

Referenced by GCS_MAVLINK_Copter::handleMessage().

pitch_mode

poshold_rp_mode pitch_mode

Definition at line 36 of file mode_poshold.cpp.

poshold

struct { ... } poshold

Referenced by Copter::ModePosHold::init(), Copter::ModePosHold::poshold_get_wind_comp_lean_angles(), Copter::ModePosHold::poshold_pitch_controller_to_pilot_override(), Copter::ModePosHold::poshold_roll_controller_to_pilot_override(), Copter::ModePosHold::poshold_update_brake_angle_from_velocity(), Copter::ModePosHold::poshold_update_wind_comp_estimate(), and Copter::ModePosHold::run().

roll

int16_t roll

Definition at line 68 of file mode_poshold.cpp.

Referenced by GCS_MAVLINK_Copter::handleMessage().

roll_mode

poshold_rp_mode roll_mode

Definition at line 35 of file mode_poshold.cpp.

wind_comp_ef

Vector2f wind_comp_ef

Definition at line 61 of file mode_poshold.cpp.

wind_comp_pitch

int16_t wind_comp_pitch

Definition at line 63 of file mode_poshold.cpp.

wind_comp_roll

int16_t wind_comp_roll

Definition at line 62 of file mode_poshold.cpp.

wind_comp_start_timer

uint16_t wind_comp_start_timer

Definition at line 64 of file mode_poshold.cpp.

wind_comp_timer

int8_t wind_comp_timer

Definition at line 65 of file mode_poshold.cpp.