From 767333a02c85995148d7b5e76a1918363fc32ccb Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Fri, 17 Mar 2023 21:44:20 +0100
Subject: [PATCH] [fix] update generated rotorcraft autopilot for new guidance
 (#3012)

---
 conf/autopilot/rotorcraft_autopilot.xml       | 21 +++++++++++--------
 .../rotorcraft/guidance/guidance_v.c          |  4 ++--
 .../rotorcraft/guidance/guidance_v.h          |  2 ++
 3 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/conf/autopilot/rotorcraft_autopilot.xml b/conf/autopilot/rotorcraft_autopilot.xml
index 55b578f59b..361cdccb35 100644
--- a/conf/autopilot/rotorcraft_autopilot.xml
+++ b/conf/autopilot/rotorcraft_autopilot.xml
@@ -39,18 +39,19 @@
 
     <control_block name="throttle_direct">
       <call fun="guidance_v_read_rc()"/>
-      <call fun="guidance_v_z_sp = stateGetPositionNed_i()->z"/>
-      <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v_rc_delta_t"/>
+      <call fun="guidance_v_set_z(stateGetPositionNed_i()->z)"/>
+      <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/>
     </control_block>
 
     <control_block name="altitude_loop">
-      <call fun="gv_update_ref_from_z_sp(guidance_v_z_sp)"/>
-      <call fun="run_hover_loop(autopilot_in_flight())"/>
+      <call fun="gv_update_ref_from_z_sp(guidance_v.z_sp)"/>
+      <call fun="guidance_v.delta_t = guidance_v_run_pos(autopilot_in_flight(), &guidance_v)"/>
+      <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/>
       <!--call fun="SaturateThrottle(rc_values)"/-->
     </control_block>
 
     <exceptions>
-      <exception cond="too_far_from_home" deroute="HOME"/>
+      <exception cond="nav.too_far_from_home" deroute="HOME"/>
       <exception cond="kill_switch_is_on()" deroute="KILL"/>
     </exceptions>
 
@@ -112,7 +113,7 @@
       <on_enter>
         <call fun="guidance_h_hover_enter()"/>
         <call fun="stabilization_attitude_enter()"/>
-        <call fun="guidance_v_mode = GUIDANCE_V_MODE_GUIDED"/>
+        <call fun="guidance_v.mode = GUIDANCE_V_MODE_GUIDED"/>
         <call fun="guidance_v_guided_enter()"/>
       </on_enter>
       <control freq="NAVIGATION_FREQUENCY">
@@ -152,13 +153,15 @@
       <on_enter>
         <call fun="stabilization_attitude_set_failsafe_setpoint()"/>
         <call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)"/>
-        <call fun="guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED)"/>
+        <call fun="guidance_v_set_z(SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED))"/>
       </on_enter>
       <control>
         <call fun="stabilization_attitude_set_failsafe_setpoint()"/>
         <call fun="stabilization_attitude_run(autopilot_in_flight())"/>
-        <call fun="gv_update_ref_from_zd_sp(guidance_v_zd_sp, stateGetPositionNed_i()->z)"/>
-        <call fun="run_hover_loop(autopilot_in_flight())"/>
+        <call fun="gv_update_ref_from_zd_sp(guidance_v.zd_sp, stateGetPositionNed_i()->z)"/>
+        <call fun="guidance_v_update_ref()"/>
+        <call fun="guidance_v.delta_t = guidance_v_run_speed(autopilot_in_flight(), &guidance_v)"/>
+        <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/>
         <call_block name="set_commands"/>
       </control>
       <exception cond="!GpsIsLost()" deroute="$LAST_MODE"/>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 5f0d132b95..84ab62e827 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -199,7 +199,7 @@ static int32_t get_vertical_thrust_coeff(void)
 }
 
 
-static void guidance_v_thrust_adapt(bool in_flight)
+void guidance_v_thrust_adapt(bool in_flight)
 {
   guidance_v.thrust_coeff = get_vertical_thrust_coeff();
 
@@ -302,7 +302,7 @@ void guidance_v_set_ref(int32_t pos, int32_t speed, int32_t accel)
 }
 
 
-static void guidance_v_update_ref(void)
+void guidance_v_update_ref(void)
 {
   /* convert our reference to generic representation */
   int64_t tmp  = gv_z_ref >> (GV_Z_REF_FRAC - INT32_POS_FRAC);
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
index e6a843ef07..11c32674fb 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
@@ -111,6 +111,8 @@ extern void guidance_v_init(void);
 extern void guidance_v_read_rc(void);
 extern void guidance_v_mode_changed(uint8_t new_mode);
 extern void guidance_v_notify_in_flight(bool in_flight);
+extern void guidance_v_thrust_adapt(bool in_flight);
+extern void guidance_v_update_ref(void);
 extern void guidance_v_run(bool in_flight);
 extern void guidance_v_z_enter(void);