Paparazzi UAS  v5.15_devel-59-g8c145b7
Paparazzi is a free software Unmanned Aircraft System.
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Angular rate representations
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Macros

#define RATE_I   0
 
#define RATE_F   1
 

Functions

void stateCalcBodyRates_i (void)
 
void stateCalcBodyRates_f (void)
 
static bool stateIsRateValid (void)
 Test if rates are valid. More...
 
static void stateSetBodyRates_i (struct Int32Rates *body_rate)
 Set vehicle body angular rate (int). More...
 
static void stateSetBodyRates_f (struct FloatRates *body_rate)
 Set vehicle body angular rate (float). More...
 
static struct Int32RatesstateGetBodyRates_i (void)
 Get vehicle body angular rate (int). More...
 
static struct FloatRatesstateGetBodyRates_f (void)
 Get vehicle body angular rate (float). More...
 

Variables

uint8_t State::rate_status
 Holds the status bits for all angular rate representations. More...
 
struct Int32Rates State::body_rates_i
 Angular rates in body frame. More...
 
struct FloatRates State::body_rates_f
 Angular rates in body frame. More...
 

Detailed Description

Macro Definition Documentation

#define RATE_F   1
#define RATE_I   0

Function Documentation

void stateCalcBodyRates_f ( void  )

Definition at line 1222 of file state.c.

References State::body_rates_f, State::body_rates_i, RATE_F, RATE_I, State::rate_status, RATES_FLOAT_OF_BFP, and state.

Referenced by stateGetBodyRates_f().

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void stateCalcBodyRates_i ( void  )

Definition at line 1207 of file state.c.

References State::body_rates_f, State::body_rates_i, RATE_F, RATE_I, State::rate_status, RATES_BFP_OF_REAL, and state.

Referenced by stateGetBodyRates_i().

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static struct Int32Rates* stateGetBodyRates_i ( void  )
static

Get vehicle body angular rate (int).

Definition at line 1191 of file state.h.

References State::body_rates_i, RATE_I, State::rate_status, state, and stateCalcBodyRates_i().

Referenced by ctrl_module_run(), send_att(), and stabilization_attitude_run().

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static bool stateIsRateValid ( void  )
inlinestatic

Test if rates are valid.

Definition at line 1165 of file state.h.

References State::rate_status, and state.

static void stateSetBodyRates_i ( struct Int32Rates body_rate)
inlinestatic

Set vehicle body angular rate (int).

Definition at line 1173 of file state.h.

References State::body_rates_i, RATE_I, State::rate_status, RATES_COPY, and state.

Referenced by gyro_cb(), set_body_state_from_euler(), and set_body_state_from_quat().

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Variable Documentation

struct FloatRates State::body_rates_f

Angular rates in body frame.

Units: rad/s

Definition at line 390 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_f(), and stateSetBodyRates_f().

struct Int32Rates State::body_rates_i

Angular rates in body frame.

Units: rad/s in BFP with INT32_RATE_FRAC

Definition at line 384 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_i(), and stateSetBodyRates_i().

uint8_t State::rate_status

Holds the status bits for all angular rate representations.

When the corresponding bit is one the representation is already computed.

Definition at line 378 of file state.h.

Referenced by stateCalcBodyRates_f(), stateCalcBodyRates_i(), stateGetBodyRates_f(), stateGetBodyRates_i(), stateInit(), stateIsRateValid(), stateSetBodyRates_f(), and stateSetBodyRates_i().