stabilization.c File Reference

General stabilization interface for rotorcrafts. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "state.h"

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Functions
void	stabilization_init (void)
static struct Int32Eulers	stab_sp_rotate_i (struct Int32Vect2 *vect, int32_t heading)
static struct FloatEulers	stab_sp_rotate_f (struct FloatVect2 *vect, float heading)
void	stabilization_filter_commands (void)
struct Int32Quat	stab_sp_to_quat_i (struct StabilizationSetpoint *sp)
struct FloatQuat	stab_sp_to_quat_f (struct StabilizationSetpoint *sp)
struct Int32Eulers	stab_sp_to_eulers_i (struct StabilizationSetpoint *sp)
struct FloatEulers	stab_sp_to_eulers_f (struct StabilizationSetpoint *sp)
struct Int32Rates	stab_sp_to_rates_i (struct StabilizationSetpoint *sp)
struct FloatRates	stab_sp_to_rates_f (struct StabilizationSetpoint *sp)
struct StabilizationSetpoint	stab_sp_from_quat_i (struct Int32Quat *quat)
struct StabilizationSetpoint	stab_sp_from_quat_f (struct FloatQuat *quat)
struct StabilizationSetpoint	stab_sp_from_quat_ff_rates_f (struct FloatQuat *quat, struct FloatRates *rates)
struct StabilizationSetpoint	stab_sp_from_eulers_i (struct Int32Eulers *eulers)
struct StabilizationSetpoint	stab_sp_from_eulers_f (struct FloatEulers *eulers)
struct StabilizationSetpoint	stab_sp_from_ltp_i (struct Int32Vect2 *vect, int32_t heading)
struct StabilizationSetpoint	stab_sp_from_ltp_f (struct FloatVect2 *vect, float heading)
struct StabilizationSetpoint	stab_sp_from_rates_i (struct Int32Rates *rates)
struct StabilizationSetpoint	stab_sp_from_rates_f (struct FloatRates *rates)

Variables
int32_t	stabilization_cmd [COMMANDS_NB]
	Stabilization commands. More...

Detailed Description

General stabilization interface for rotorcrafts.

Definition in file stabilization.c.

Function Documentation

stab_sp_from_eulers_f()

struct StabilizationSetpoint stab_sp_from_eulers_f

(

struct FloatEulers *

eulers

)

Definition at line 106 of file stabilization.c.

References MAX_PPRZ, stabilization_cmd, and update_second_order_low_pass_int().

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stab_sp_from_eulers_i()

struct StabilizationSetpoint stab_sp_from_eulers_i

(

struct Int32Eulers *

eulers

)

Definition at line 106 of file stabilization.c.

stab_sp_from_ltp_f()

struct StabilizationSetpoint stab_sp_from_ltp_f	(	struct FloatVect2 *	vect,
		float	heading
	)

Definition at line 106 of file stabilization.c.

stab_sp_from_ltp_i()

struct StabilizationSetpoint stab_sp_from_ltp_i	(	struct Int32Vect2 *	vect,
		int32_t	heading
	)

Definition at line 106 of file stabilization.c.

stab_sp_from_quat_f()

struct StabilizationSetpoint stab_sp_from_quat_f

(

struct FloatQuat *

quat

)

Definition at line 106 of file stabilization.c.

stab_sp_from_quat_ff_rates_f()

struct StabilizationSetpoint stab_sp_from_quat_ff_rates_f	(	struct FloatQuat *	quat,
		struct FloatRates *	rates
	)

Definition at line 106 of file stabilization.c.

stab_sp_from_quat_i()

struct StabilizationSetpoint stab_sp_from_quat_i

(

struct Int32Quat *

quat

)

Definition at line 106 of file stabilization.c.

stab_sp_from_rates_f()

struct StabilizationSetpoint stab_sp_from_rates_f

(

struct FloatRates *

rates

)

Definition at line 106 of file stabilization.c.

stab_sp_from_rates_i()

struct StabilizationSetpoint stab_sp_from_rates_i

(

struct Int32Rates *

rates

)

Definition at line 106 of file stabilization.c.

stab_sp_rotate_f()

static struct FloatEulers stab_sp_rotate_f ( struct FloatVect2 *  vect, float  heading  )

static

Definition at line 57 of file stabilization.c.

References SecondOrderLowPass_int::i, init_second_order_low_pass_int(), and stabilization_cmd.

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stab_sp_rotate_i()

static struct Int32Eulers stab_sp_rotate_i ( struct Int32Vect2 *  vect, int32_t  heading  )

static

Definition at line 57 of file stabilization.c.

stab_sp_to_eulers_f()

struct FloatEulers stab_sp_to_eulers_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

Referenced by stabilization_attitude_set_stab_sp().

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stab_sp_to_eulers_i()

struct Int32Eulers stab_sp_to_eulers_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

Referenced by stabilization_attitude_set_stab_sp(), and stabilization_indi_set_stab_sp().

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stab_sp_to_quat_f()

struct FloatQuat stab_sp_to_quat_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

Referenced by stabilization_attitude_set_stab_sp().

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stab_sp_to_quat_i()

struct Int32Quat stab_sp_to_quat_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

Referenced by stabilization_attitude_set_stab_sp(), and stabilization_indi_set_stab_sp().

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stab_sp_to_rates_f()

struct FloatRates stab_sp_to_rates_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

Referenced by stabilization_indi_set_stab_sp().

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stab_sp_to_rates_i()

struct Int32Rates stab_sp_to_rates_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 106 of file stabilization.c.

stabilization_filter_commands()

void stabilization_filter_commands

(

void

)

Definition at line 106 of file stabilization.c.

Referenced by guidance_h_run().

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stabilization_init()

void stabilization_init

(

void

)

Definition at line 57 of file stabilization.c.

Variable Documentation

stabilization_cmd

int32_t stabilization_cmd[COMMANDS_NB]

Stabilization commands.

Contains the resulting stabilization commands, regardless of whether rate or attitude is currently used. Range -MAX_PPRZ:MAX_PPRZ

Definition at line 34 of file stabilization.c.

Referenced by autopilot_check_in_flight(), autopilot_in_flight_end_detection(), autopilot_static_periodic(), autopilot_static_set_mode(), compute_accel_from_speed_sp(), ctrl_module_run(), direct_memory_logger_periodic(), draw_osd(), guidance_flip_run(), guidance_indi_enter(), guidance_indi_hybrid_set_wls_settings(), guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_module_enter(), guidance_v_run(), guidance_v_thrust_adapt(), ins_flow_update(), logger_control_effectiveness_periodic(), logger_file_write_row(), nav_heli_spinup_run(), nav_heli_spinup_setup(), oneloop_andi_run(), rotwing_check_set_current_state(), send_att(), send_bebop_actuators(), send_rate(), send_windtunnel_meas(), stab_sp_from_eulers_f(), stab_sp_rotate_f(), stabilization_attitude_run(), stabilization_indi_rate_run(), stabilization_none_run(), stabilization_rate_run(), and vertical_ctrl_module_run().