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some doxygen doc updates for guidance_v

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Felix Ruess
2012-03-14 16:08:52 +01:00
parent 2509dc157f
commit c81c662c19
3 changed files with 789 additions and 787 deletions
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+764 -763
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
+5 -5
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@@ -36,31 +36,31 @@
extern uint8_t guidance_v_mode; extern uint8_t guidance_v_mode;
/** altitude setpoint in meters (input) /** altitude setpoint in meters (input).
* fixed point representation: Q23.8 * fixed point representation: Q23.8
* accuracy 0.0039, range 8388km * accuracy 0.0039, range 8388km
*/ */
extern int32_t guidance_v_z_sp; extern int32_t guidance_v_z_sp;
/** vertical speed setpoint in meter/s (input) /** vertical speed setpoint in meter/s (input).
* fixed point representation: Q12.19 * fixed point representation: Q12.19
* accuracy 0.0000019, range +/-4096 * accuracy 0.0000019, range +/-4096
*/ */
extern int32_t guidance_v_zd_sp; extern int32_t guidance_v_zd_sp;
/** altitude reference in meters /** altitude reference in meters.
* fixed point representation: Q23.8 * fixed point representation: Q23.8
* accuracy 0.0039, range 8388km * accuracy 0.0039, range 8388km
*/ */
extern int32_t guidance_v_z_ref; extern int32_t guidance_v_z_ref;
/** vertical speed reference in meter/s /** vertical speed reference in meter/s.
* fixed point representation: Q12.19 * fixed point representation: Q12.19
* accuracy 0.0000038, range 4096 * accuracy 0.0000038, range 4096
*/ */
extern int32_t guidance_v_zd_ref; extern int32_t guidance_v_zd_ref;
/** vertical acceleration reference in meter/s^2 /** vertical acceleration reference in meter/s^2.
* fixed point representation: Q21.10 * fixed point representation: Q21.10
* accuracy 0.0009766, range 2097152 * accuracy 0.0009766, range 2097152
*/ */
sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
+20 -19
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@@ -30,8 +30,21 @@
#ifndef GUIDANCE_V_ADPT #ifndef GUIDANCE_V_ADPT
#define GUIDANCE_V_ADPT #define GUIDANCE_V_ADPT
/** State of the estimator.
* fixed point representation with #GV_ADAPT_X_FRAC
* Q13.18
*/
extern int32_t gv_adapt_X; extern int32_t gv_adapt_X;
#define GV_ADAPT_X_FRAC 18
/** Covariance.
* fixed point representation with #GV_ADAPT_P_FRAC
* Q13.18
*/
extern int32_t gv_adapt_P; extern int32_t gv_adapt_P;
#define GV_ADAPT_P_FRAC 18
/** Measurement */
extern int32_t gv_adapt_Xmeas; extern int32_t gv_adapt_Xmeas;
@@ -47,21 +60,8 @@ extern int32_t gv_adapt_Xmeas;
#define SUPERVISION_MAX_MOTOR 200 #define SUPERVISION_MAX_MOTOR 200
#endif #endif
/** State of the estimator
* fixed point representation with #GV_ADAPT_X_FRAC
* Q13.18
*/
int32_t gv_adapt_X; int32_t gv_adapt_X;
#define GV_ADAPT_X_FRAC 18
/** Covariance
* fixed point representation with #GV_ADAPT_P_FRAC
* Q13.18
*/
int32_t gv_adapt_P; int32_t gv_adapt_P;
#define GV_ADAPT_P_FRAC 18
/** Measurement */
int32_t gv_adapt_Xmeas; int32_t gv_adapt_Xmeas;
@@ -75,7 +75,7 @@ int32_t gv_adapt_Xmeas;
#define GV_ADAPT_SYS_NOISE_F 0.00005 #define GV_ADAPT_SYS_NOISE_F 0.00005
#define GV_ADAPT_SYS_NOISE BFP_OF_REAL(GV_ADAPT_SYS_NOISE_F, GV_ADAPT_P_FRAC) #define GV_ADAPT_SYS_NOISE BFP_OF_REAL(GV_ADAPT_SYS_NOISE_F, GV_ADAPT_P_FRAC)
/** Adapt noise factor /** Adapt noise factor.
* Smaller values will make the filter to adapter faster * Smaller values will make the filter to adapter faster
* Bigger values (slower adaptation) make the filter more robust to external perturbations * Bigger values (slower adaptation) make the filter more robust to external perturbations
* Factor should always be >0 * Factor should always be >0
@@ -116,12 +116,13 @@ static inline void gv_adapt_init(void) {
gv_adapt_P = GV_ADAPT_P0; gv_adapt_P = GV_ADAPT_P0;
} }
/** Adaptation function
* zdd_meas : INT32_ACCEL_FRAC
* thrust_applied : controller input [SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR]
* zd_ref: INT32_SPEED_FRAC
*/
#define K_FRAC 12 #define K_FRAC 12
/** Adaptation function.
* @param zdd_meas vert accel measurement in m/s^2 with #INT32_ACCEL_FRAC
* @param thrust_applied controller input [SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR]
* @param zd_ref vertical speed reference in m/s with #INT32_SPEED_FRAC
*/
static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref) { static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref) {
/* Do you really think we want to divide by zero ? /* Do you really think we want to divide by zero ?