Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
stabilization_rotorcraft module

Base stabilization code for rotorcraft

Also provide the direct mode 'stabilization_none' As a durty hack, it also provides navigation and guidance: this should be done in the airframe at some point

Example for airframe file

Add to your firmware section:

1 <module name="stabilization_rotorcraft"/>

Module configuration options

Airframe file section

  • section name: STABILIZATION_FILTER_CMD prefix: STABILIZATION_FILTER_CMD_
    • name ROLL_PITCH value: 0
      Description: roll and pitch command filter toggle
    • name YAW value: 0
      Description: yaw command filter toggle
    • name ROLL_CUTOFF value: 20.0
      Description: roll command filter cut-off
    • name PITCH_CUTOFF value: 20.0
      Description: pitch command filter cut-off
    • name YAW_CUTOFF value: 20.0
      Description: yaw command filter cut-off

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

  • /stabilization.c
  • /stabilization/stabilization_none.c

Raw stabilization_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_rotorcraft" dir="stabilization">
<doc>
<description>
Base stabilization code for rotorcraft
Also provide the direct mode 'stabilization_none'
As a durty hack, it also provides navigation and guidance: this should be done in the airframe at some point
</description>
<section name="STABILIZATION_FILTER_CMD" prefix="STABILIZATION_FILTER_CMD_">
<define name="ROLL_PITCH" value="0" description="roll and pitch command filter toggle" unit="bool"/>
<define name="YAW" value="0" description="yaw command filter toggle" unit="bool"/>
<define name="ROLL_CUTOFF" value="20.0" description="roll command filter cut-off" unit="Hz"/>
<define name="PITCH_CUTOFF" value="20.0" description="pitch command filter cut-off" unit="Hz"/>
<define name="YAW_CUTOFF" value="20.0" description="yaw command filter cut-off" unit="Hz"/>
</section>
</doc>
<autoload name="nav_basic_rotorcraft"/>
<header>
<file name="stabilization.h" dir="firmwares/rotorcraft"/>
<file name="stabilization_none.h"/>
</header>
<init fun="stabilization_init()"/>
<init fun="stabilization_none_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<file name="stabilization.c" dir="$(SRC_FIRMWARE)"/>
<file name="stabilization_none.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>