#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_P.h>
#include <AC_PID/AC_PID.h>
#include <AC_PID/AC_PI_2D.h>
#include <AC_PID/AC_PID_2D.h>
#include <AP_InertialNav/AP_InertialNav.h>
#include "AC_AttitudeControl.h"
#include <AP_Motors/AP_Motors.h>
#include <AP_Vehicle/AP_Vehicle.h>

Include dependency graph for AC_PosControl.h:

This graph shows which files directly or indirectly include this file:

Classes
class	AC_PosControl

struct	AC_PosControl::poscontrol_flags

struct	AC_PosControl::poscontrol_limit_flags

Macros
#define	POSCONTROL_ACCELERATION_MIN 50.0f

#define	POSCONTROL_ACCEL_XY 100.0f

#define	POSCONTROL_ACCEL_XY_MAX 980.0f

#define	POSCONTROL_STOPPING_DIST_UP_MAX 300.0f

#define	POSCONTROL_STOPPING_DIST_DOWN_MAX 200.0f

#define	POSCONTROL_SPEED 500.0f

#define	POSCONTROL_SPEED_DOWN -150.0f

#define	POSCONTROL_SPEED_UP 250.0f

#define	POSCONTROL_ACCEL_Z 250.0f

#define	POSCONTROL_LEASH_LENGTH_MIN 100.0f

#define	POSCONTROL_DT_50HZ 0.02f

#define	POSCONTROL_DT_400HZ 0.0025f

#define	POSCONTROL_ACTIVE_TIMEOUT_MS 200

#define	POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f

#define	POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f

#define	POSCONTROL_ACCEL_FILTER_HZ 2.0f

#define	POSCONTROL_JERK_RATIO 1.0f

#define	POSCONTROL_OVERSPEED_GAIN_Z 2.0f

Macro Definition Documentation

◆ POSCONTROL_ACCEL_FILTER_HZ

#define POSCONTROL_ACCEL_FILTER_HZ 2.0f

Definition at line 38 of file AC_PosControl.h.

◆ POSCONTROL_ACCEL_XY

#define POSCONTROL_ACCEL_XY 100.0f

Definition at line 18 of file AC_PosControl.h.

◆ POSCONTROL_ACCEL_XY_MAX

#define POSCONTROL_ACCEL_XY_MAX 980.0f

Definition at line 19 of file AC_PosControl.h.

Referenced by AC_PosControl::run_xy_controller().

◆ POSCONTROL_ACCEL_Z

#define POSCONTROL_ACCEL_Z 250.0f

Definition at line 27 of file AC_PosControl.h.

◆ POSCONTROL_ACCELERATION_MIN

#define POSCONTROL_ACCELERATION_MIN 50.0f

Definition at line 17 of file AC_PosControl.h.

Referenced by AC_PosControl::calc_leash_length().

◆ POSCONTROL_ACTIVE_TIMEOUT_MS

#define POSCONTROL_ACTIVE_TIMEOUT_MS 200

Definition at line 34 of file AC_PosControl.h.

Referenced by AC_PosControl::is_active_xy(), AC_PosControl::is_active_z(), AC_PosControl::update_xy_controller(), and AC_PosControl::update_z_controller().

◆ POSCONTROL_DT_400HZ

#define POSCONTROL_DT_400HZ 0.0025f

Definition at line 32 of file AC_PosControl.h.

◆ POSCONTROL_DT_50HZ

#define POSCONTROL_DT_50HZ 0.02f

Definition at line 31 of file AC_PosControl.h.

◆ POSCONTROL_JERK_RATIO

#define POSCONTROL_JERK_RATIO 1.0f

Definition at line 39 of file AC_PosControl.h.

Referenced by AC_PosControl_Sub::set_alt_target_from_climb_rate_ff(), and AC_PosControl::set_alt_target_from_climb_rate_ff().

◆ POSCONTROL_LEASH_LENGTH_MIN

#define POSCONTROL_LEASH_LENGTH_MIN 100.0f

Definition at line 29 of file AC_PosControl.h.

Referenced by AC_PosControl::calc_leash_length().

◆ POSCONTROL_OVERSPEED_GAIN_Z

#define POSCONTROL_OVERSPEED_GAIN_Z 2.0f

Definition at line 41 of file AC_PosControl.h.

Referenced by AC_PosControl_Sub::set_alt_target_from_climb_rate_ff(), and AC_PosControl::set_alt_target_from_climb_rate_ff().

◆ POSCONTROL_SPEED

#define POSCONTROL_SPEED 500.0f

Definition at line 23 of file AC_PosControl.h.

◆ POSCONTROL_SPEED_DOWN

#define POSCONTROL_SPEED_DOWN -150.0f

Definition at line 24 of file AC_PosControl.h.

◆ POSCONTROL_SPEED_UP

#define POSCONTROL_SPEED_UP 250.0f

Definition at line 25 of file AC_PosControl.h.

◆ POSCONTROL_STOPPING_DIST_DOWN_MAX

#define POSCONTROL_STOPPING_DIST_DOWN_MAX 200.0f

Definition at line 21 of file AC_PosControl.h.

Referenced by AC_PosControl::get_stopping_point_z().

◆ POSCONTROL_STOPPING_DIST_UP_MAX

#define POSCONTROL_STOPPING_DIST_UP_MAX 300.0f

Definition at line 20 of file AC_PosControl.h.

Referenced by AC_PosControl::get_stopping_point_z().

◆ POSCONTROL_THROTTLE_CUTOFF_FREQ

#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f

Definition at line 37 of file AC_PosControl.h.

Referenced by AC_PosControl::run_z_controller().

◆ POSCONTROL_VEL_ERROR_CUTOFF_FREQ

#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f

Definition at line 36 of file AC_PosControl.h.

Referenced by AC_PosControl::set_dt().

Classes

Macros