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:

<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

Module functions

Init Functions

These initialization functions are called once on startup.

• stabilization_init()
• stabilization_direct_init()

Files

Header Files

The following headers are automatically included in modules.h

• stabilization.h
• stabilization_direct.h

Source Files

• /stabilization.c
• /stabilization/stabilization_direct.c
• /stabilization/stabilization_attitude_rc_setpoint.c
• /stabilization/stabilization_attitude_quat_transformations.c

Raw stabilization_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="stabilization_rotorcraft" dir="stabilization" task="control">
  <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>
  <dep>
    <provides>stabilization</provides>
  </dep>
  <header>
    <file name="stabilization.h" dir="firmwares/rotorcraft"/>
    <file name="stabilization_direct.h"/>
  </header>
  <init fun="stabilization_init()"/>
  <init fun="stabilization_direct_init()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="stabilization.c" dir="$(SRC_FIRMWARE)"/>
    <file name="stabilization_direct.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <test firmware="rotorcraft">
      <define name="PERIODIC_FREQUENCY" value="500"/>
    </test>
  </makefile>
</module>