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[rotwing] Fly back to standby in fixed wing. Gih add setters for max bank, climb, and descend speed (#3452)
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This commit is contained in:
NoahWe
2025-04-29 13:00:28 +02:00
committed by GitHub
parent 4aa83b108f
commit f19834aaa7
8 changed files with 263 additions and 104 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
+14
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@@ -416,6 +416,20 @@ void guidance_set_min_max_airspeed(float min_airspeed, float max_airspeed) {
gih_params.max_airspeed = max_airspeed;
}
void guidance_set_max_bank_angle(float max_bank) {
guidance_indi_max_bank = max_bank;
}
void guidance_set_max_climb_speed(float max_climb_speed_quad, float max_climb_speed_fwd) {
gih_params.climb_vspeed_quad = max_climb_speed_quad;
gih_params.climb_vspeed_fwd = max_climb_speed_fwd;
}
void guidance_set_max_descend_speed(float max_descend_speed_quad, float max_descend_speed_fwd) {
gih_params.descend_vspeed_quad = max_descend_speed_quad;
gih_params.descend_vspeed_fwd = max_descend_speed_fwd;
}
/**
* @param accel_sp accel setpoint in NED frame [m/s^2]
* @param heading_sp the desired heading [rad]
sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
+3
View File
@@ -71,6 +71,9 @@ enum GuidanceIndiHybrid_VMode {
extern struct StabilizationSetpoint guidance_indi_run(struct FloatVect3 *accep_sp, float heading_sp);
extern struct StabilizationSetpoint guidance_indi_run_mode(bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndiHybrid_HMode h_mode, enum GuidanceIndiHybrid_VMode v_mode);
extern void guidance_set_min_max_airspeed(float min_airspeed, float max_airspeed);
extern void guidance_set_max_bank_angle(float max_bank);
extern void guidance_set_max_climb_speed(float max_climb_speed_quad, float max_climb_speed_fwd);
extern void guidance_set_max_descend_speed(float max_descend_speed_quad, float max_descend_speed_fwd);
struct guidance_indi_hybrid_params {
float pos_gain;