guidance_indi_quadrotor.c File Reference

#include "firmwares/rotorcraft/guidance/guidance_indi.h"
#include "filters/low_pass_filter.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"

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Functions
static UNUSED void	guidance_indi_calcG_zyx (float Gmat[3][3], struct FloatEulers euler_zyx)
static void	guidance_indi_calcG_yxz (float Gmat[3][3], struct FloatEulers euler_yxz)
void	guidance_indi_calcG (float Gmat[3][3], struct FloatEulers att)
	Compute effectiveness matrix for guidance.

Function Documentation

guidance_indi_calcG()

void guidance_indi_calcG	(	float	Gmat[3][3],
		struct FloatEulers	att
	)

Compute effectiveness matrix for guidance.

Parameters

Gmat	Dynamics matrix

Definition at line 92 of file guidance_indi_quadrotor.c.

References Gmat, guidance_indi_calcG_yxz(), and guidance_indi_calcG_zyx().

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guidance_indi_calcG_yxz()

static void guidance_indi_calcG_yxz ( float  Gmat[3][3], struct FloatEulers  euler_yxz  )

static

Parameters

Gmat	array to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the pitch, roll and thrust. w.r.t. the NED accelerations for YXZ eulers ddx = G*[dtheta,dphi,dT]

Definition at line 68 of file guidance_indi_quadrotor.c.

References foo, and Gmat.

Referenced by guidance_indi_calcG().

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guidance_indi_calcG_zyx()

static UNUSED void guidance_indi_calcG_zyx ( float  Gmat[3][3], struct FloatEulers  euler_zyx  )

static

Parameters

Gmat	array to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the roll, pitch and thrust. w.r.t. the NED accelerations for ZYX eulers ddx = G*[dtheta,dphi,dT]

Definition at line 39 of file guidance_indi_quadrotor.c.

References foo, and Gmat.

Referenced by guidance_indi_calcG().

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