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StoRC
Autonomous Payload Delivery System
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Controls header file, contains all controls variables, gains, constants, etc. More...
Go to the source code of this file.
Defines | |
| #define | KP_PSI2PHI 0.25 |
| 45deg of bank / 180deg of error | |
| #define | target_LAT 399878890 |
| #define | target_LON -752113880 |
| #define | DROP_THRESH 400 |
| #define | KP_THR 50.0 |
| #define | KI_THR 10.0 |
| #define | KP_RUD 5.0 |
| #define | KD_RUD 3.0 |
| #define | KI_RUD 1.0 |
| #define | KP_RP 0.05 |
| #define | KP_ELE 40.0 |
| #define | KI_ELE 10.0 |
Variables | |
| int | throttle_mix_result = 0 |
| Additional rc control to add to the rudder based on throttle. | |
| unsigned long | ptimer = 0 |
| Perturbation timer for step input perturbation routine. | |
| int | sw1 = 0 |
| int | sw2 = 0 |
| long | dist2drop = 10000000 |
| long | LAT_C = target_LAT |
| long | LON_C = target_LON |
| long | del_LAT = 1000000 |
| long | del_LON = 1000000 |
| float | psi_c = 0.0 |
| float | psi_error = 0 |
| int | del_ELE = 0 |
| float | I_ELE = 0 |
| int | rc_ele_trim = 1500 |
| float | kp_ele_gm = 1.0 |
| float | ki_ele_gm = 1.0 |
| float | q_c = 0.0 |
| float | q = 0.0 |
| float | alpha_q = 0.5 |
| float | q_filtered = 0.0 |
| int | updated_ALT = 0 |
| float | old_ALT = 0 |
| float | new_ALT = 0 |
| float | del_ALT = 0 |
| int | del_THR = 0 |
| int | I_THR = 0 |
| int | rc_thr_trim = 1500 |
| float | kp_thr_gm = 1.0 |
| float | ki_thr_gm = 1.0 |
| int | del_RUD = 0 |
| int | I_RUD = 0 |
| int | rc_rud_trim = 1500 |
| float | kp_rud_gm = 1.0 |
| float | kd_rud_gm = 1.0 |
| float | ki_rud_gm = 1.0 |
| int | phi_c = 0 |
Controls header file, contains all controls variables, gains, constants, etc.
Definition in file controls.h.
| #define DROP_THRESH 400 |
Definition at line 62 of file controls.h.
| #define KD_RUD 3.0 |
Definition at line 70 of file controls.h.
| #define KI_ELE 10.0 |
Definition at line 76 of file controls.h.
| #define KI_RUD 1.0 |
Definition at line 71 of file controls.h.
| #define KI_THR 10.0 |
Definition at line 66 of file controls.h.
| #define KP_ELE 40.0 |
Definition at line 75 of file controls.h.
| #define KP_PSI2PHI 0.25 |
45deg of bank / 180deg of error
Definition at line 41 of file controls.h.
| #define KP_RP 0.05 |
Definition at line 74 of file controls.h.
| #define KP_RUD 5.0 |
Definition at line 69 of file controls.h.
| #define KP_THR 50.0 |
Definition at line 65 of file controls.h.
| #define target_LAT 399878890 |
Definition at line 44 of file controls.h.
| #define target_LON -752113880 |
Definition at line 45 of file controls.h.
| float alpha_q = 0.5 |
Definition at line 104 of file controls.h.
| float del_ALT = 0 |
Definition at line 111 of file controls.h.
| int del_ELE = 0 |
Definition at line 97 of file controls.h.
| long del_LAT = 1000000 |
Definition at line 91 of file controls.h.
| long del_LON = 1000000 |
Definition at line 92 of file controls.h.
| int del_RUD = 0 |
Definition at line 119 of file controls.h.
| int del_THR = 0 |
Definition at line 112 of file controls.h.
| long dist2drop = 10000000 |
Definition at line 88 of file controls.h.
| float I_ELE = 0 |
Definition at line 98 of file controls.h.
| int I_RUD = 0 |
Definition at line 120 of file controls.h.
| int I_THR = 0 |
Definition at line 113 of file controls.h.
| float kd_rud_gm = 1.0 |
Definition at line 123 of file controls.h.
| float ki_ele_gm = 1.0 |
Definition at line 101 of file controls.h.
| float ki_rud_gm = 1.0 |
Definition at line 124 of file controls.h.
| float ki_thr_gm = 1.0 |
Definition at line 116 of file controls.h.
| float kp_ele_gm = 1.0 |
Definition at line 100 of file controls.h.
| float kp_rud_gm = 1.0 |
Definition at line 122 of file controls.h.
| float kp_thr_gm = 1.0 |
Definition at line 115 of file controls.h.
| long LAT_C = target_LAT |
Definition at line 89 of file controls.h.
| long LON_C = target_LON |
Definition at line 90 of file controls.h.
| float new_ALT = 0 |
Definition at line 110 of file controls.h.
| float old_ALT = 0 |
Definition at line 109 of file controls.h.
| int phi_c = 0 |
Definition at line 125 of file controls.h.
| float psi_c = 0.0 |
Definition at line 93 of file controls.h.
| float psi_error = 0 |
Definition at line 94 of file controls.h.
| unsigned long ptimer = 0 |
Perturbation timer for step input perturbation routine.
Definition at line 81 of file controls.h.
| float q = 0.0 |
Definition at line 103 of file controls.h.
| float q_c = 0.0 |
Definition at line 102 of file controls.h.
| float q_filtered = 0.0 |
Definition at line 105 of file controls.h.
| int rc_ele_trim = 1500 |
Definition at line 99 of file controls.h.
| int rc_rud_trim = 1500 |
Definition at line 121 of file controls.h.
| int rc_thr_trim = 1500 |
Definition at line 114 of file controls.h.
| int sw1 = 0 |
Definition at line 84 of file controls.h.
| int sw2 = 0 |
Definition at line 85 of file controls.h.
| int throttle_mix_result = 0 |
Additional rc control to add to the rudder based on throttle.
Definition at line 79 of file controls.h.
| int updated_ALT = 0 |
Definition at line 108 of file controls.h.
