Naive attitude reference saturation. More...

#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"

Include dependency graph for attitude_ref_saturate_naive.h:

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

Data Structures
struct	FloatRefSat

struct	Int32RefSat

Macros
#define	SATURATE_SPEED_TRIM_ACCEL(_rate, _accel, _max_rate)
	saturate angular speed and trim accel accordingly More...

Functions
static void	attitude_ref_float_saturate_naive (struct FloatRates rate, struct FloatRates accel, struct FloatRefSat *sat)

static void	attitude_ref_int_saturate_naive (struct Int32Rates rate, struct Int32Rates accel, struct Int32RefSat *sat)

Detailed Description

Naive attitude reference saturation.

Definition in file attitude_ref_saturate_naive.h.

Data Structure Documentation

◆ FloatRefSat

struct FloatRefSat

Definition at line 32 of file attitude_ref_saturate_naive.h.

Collaboration diagram for FloatRefSat:

Data Fields
struct FloatRates	max_accel
struct FloatRates	max_rate

◆ Int32RefSat

struct Int32RefSat

Definition at line 37 of file attitude_ref_saturate_naive.h.

Collaboration diagram for Int32RefSat:

Data Fields
struct Int32Rates	max_accel
struct Int32Rates	max_rate

Macro Definition Documentation

◆ SATURATE_SPEED_TRIM_ACCEL

#define SATURATE_SPEED_TRIM_ACCEL	(	_rate,
		_accel,
		_max_rate
	)

Value:

    {   \
    if ((_rate) >= (_max_rate)) {                               \
      (_rate) = (_max_rate);                                    \
      if ((_accel) > 0) {                                       \
        (_accel) = 0;                                           \
      }                                                         \
    }                                                           \
    else if ((_rate) <= -(_max_rate)) {                         \
      (_rate) = -(_max_rate);                                   \
      if ((_accel) < 0) {                                       \
        (_accel) = 0;                                           \
      }                                                         \
    }                                                           \
  }