General stabilization interface for rotorcrafts. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "firmwares/rotorcraft/stabilization/stabilization_direct.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/abi.h"
#include "autopilot.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_RC_ID ABI_BROADCAST

#define	TRANSITION_TO_HOVER false
	Transition from 0 to 100%, used for pitch offset of hybrids.

#define	TRANSITION_TO_FORWARD true

#define	TRANSITION_TIME 3.f

Functions
static void	rc_cb (uint8_t sender_id UNUSED, struct RadioControl *rc)

static void	send_tune_hover (struct transport_tx trans UNUSED, struct link_device dev UNUSED)

void	stabilization_init (void)
	Init function.

static void	stabilization_attitude_reset_rc (void)

void	stabilization_mode_changed (uint8_t new_mode, uint8_t submode)
	Check mode change.

struct StabilizationSetpoint WEAK	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl *rc)
	Retrun attitude setpoint from RC as euler angles.

static void	transition_run (bool to_forward)

void	stabilization_run (bool in_flight, struct StabilizationSetpoint sp, struct ThrustSetpoint thrust, int32_t *cmd)
	Call default stabilization control.

struct StabilizationSetpoint	stabilization_get_failsafe_sp (void)
	Get stabilization setpoint for failsafe.

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)
	Command filter for vibrating airframes.

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)

int32_t	th_sp_to_thrust_i (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)

float	th_sp_to_thrust_f (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)

int32_t	th_sp_to_incr_i (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)

float	th_sp_to_incr_f (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)

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)

struct ThrustSetpoint	th_sp_from_thrust_i (int32_t thrust, uint8_t axis)

struct ThrustSetpoint	th_sp_from_thrust_f (float thrust, uint8_t axis)

struct ThrustSetpoint	th_sp_from_incr_i (int32_t th_increment, uint8_t axis)

struct ThrustSetpoint	th_sp_from_incr_f (float th_increment, uint8_t axis)

struct ThrustSetpoint	th_sp_from_thrust_vect_i (int32_t thrust[3])

struct ThrustSetpoint	th_sp_from_thrust_vect_f (float thrust[3])

struct ThrustSetpoint	th_sp_from_incr_vect_i (int32_t th_increment[3])

struct ThrustSetpoint	th_sp_from_incr_vect_f (float th_increment[3])

Variables
struct Stabilization	stabilization

static abi_event	rc_ev

static const float	transition_increment = 1.f / (TRANSITION_TIME * PERIODIC_FREQUENCY)

Detailed Description

General stabilization interface for rotorcrafts.

Definition in file stabilization.c.

Macro Definition Documentation

◆ STABILIZATION_RC_ID

#define STABILIZATION_RC_ID ABI_BROADCAST

Definition at line 66 of file stabilization.c.

◆ TRANSITION_TIME

#define TRANSITION_TIME 3.f

Definition at line 224 of file stabilization.c.

◆ TRANSITION_TO_FORWARD

#define TRANSITION_TO_FORWARD true

Definition at line 221 of file stabilization.c.

◆ TRANSITION_TO_HOVER

#define TRANSITION_TO_HOVER false

Transition from 0 to 100%, used for pitch offset of hybrids.

Definition at line 220 of file stabilization.c.

Function Documentation

◆ rc_cb()

static void rc_cb	(	uint8_t sender_id	UNUSED,
		struct RadioControl *	rc
	)

static

Definition at line 184 of file stabilization.c.

References Stabilization::att_submode, autopilot_in_flight(), FALSE, foo, Stabilization::mode, Stabilization::rc_sp, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, STABILIZATION_ATT_SUBMODE_FORWARD, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_read_rc(), stabilization_direct_read_rc(), STABILIZATION_MODE_ATTITUDE, STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_RATE, stabilization_rate_read_rc(), and TRUE.

Referenced by stabilization_init().

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◆ send_tune_hover()

static void send_tune_hover	(	struct transport_tx *trans	UNUSED,
		struct link_device *dev	UNUSED
	)

static

Definition at line 75 of file stabilization.c.

References Stabilization::cmd, dev, foo, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, stabilization, stateGetNedToBodyEulers_i(), and RadioControl::values.

Referenced by stabilization_init().

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◆ stab_sp_from_eulers_f()

struct StabilizationSetpoint stab_sp_from_eulers_f ( struct FloatEulers * eulers )

Definition at line 638 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_EULERS, StabilizationSetpoint::STAB_SP_FLOAT, and StabilizationSetpoint::type.

Referenced by control_mixing_heewing_attitude_plane(), control_mixing_heewing_nav_run(), guidance_h_from_nav(), guidance_plane_attitude_from_nav(), and stabilization_get_failsafe_sp().

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◆ stab_sp_from_eulers_i()

struct StabilizationSetpoint stab_sp_from_eulers_i ( struct Int32Eulers * eulers )

Definition at line 628 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_EULERS, StabilizationSetpoint::STAB_SP_INT, and StabilizationSetpoint::type.

Referenced by guidance_module_run(), and vertical_ctrl_module_run().

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◆ stab_sp_from_ltp_f()

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

Definition at line 659 of file stabilization.c.

References StabilizationSetpoint::format, heading, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_LTP, and StabilizationSetpoint::type.

◆ stab_sp_from_ltp_i()

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

Definition at line 648 of file stabilization.c.

References StabilizationSetpoint::format, heading, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_LTP, and StabilizationSetpoint::type.

Referenced by guidance_pid_h_run().

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◆ stab_sp_from_quat_f()

struct StabilizationSetpoint stab_sp_from_quat_f ( struct FloatQuat * quat )

Definition at line 607 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_QUAT, and StabilizationSetpoint::type.

Referenced by guidance_h_from_nav(), guidance_indi_run(), stabilization_attitude_read_rc(), and stabilization_attitude_reset_rc().

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◆ 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 617 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_QUAT_FF_RATE, and StabilizationSetpoint::type.

Referenced by guidance_indi_run().

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◆ stab_sp_from_quat_i()

struct StabilizationSetpoint stab_sp_from_quat_i ( struct Int32Quat * quat )

Definition at line 597 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_QUAT, and StabilizationSetpoint::type.

Referenced by guidance_hybrid_set_cmd_i().

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◆ stab_sp_from_rates_f()

struct StabilizationSetpoint stab_sp_from_rates_f ( struct FloatRates * rates )

Definition at line 680 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_RATES, and StabilizationSetpoint::type.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_read_rc().

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◆ stab_sp_from_rates_i()

struct StabilizationSetpoint stab_sp_from_rates_i ( struct Int32Rates * rates )

Definition at line 670 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_RATES, and StabilizationSetpoint::type.

◆ stab_sp_rotate_f()

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

static

Definition at line 301 of file stabilization.c.

References foo, heading, FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stab_sp_to_eulers_f(), and stab_sp_to_eulers_i().

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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 287 of file stabilization.c.

References foo, heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by stab_sp_to_eulers_f(), and stab_sp_to_eulers_i().

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◆ stab_sp_to_eulers_f()

struct FloatEulers stab_sp_to_eulers_f ( struct StabilizationSetpoint * sp )

Definition at line 454 of file stabilization.c.

References EULERS_FLOAT_OF_BFP, float_eulers_of_quat(), QUAT_FLOAT_OF_BFP, stab_sp_rotate_f(), and stab_sp_rotate_i().

Referenced by stabilization_attitude_plane_pid_run(), stabilization_attitude_run(), and stabilization_attitude_run().

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◆ stab_sp_to_eulers_i()

struct Int32Eulers stab_sp_to_eulers_i ( struct StabilizationSetpoint * sp )

Definition at line 415 of file stabilization.c.

References EULERS_BFP_OF_REAL, int32_eulers_of_quat(), QUAT_BFP_OF_REAL, stab_sp_rotate_f(), and stab_sp_rotate_i().

Referenced by reset_horizontal_vars(), stabilization_attitude_run(), stabilization_attitude_run(), and stabilization_indi_attitude_run().

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◆ stab_sp_to_quat_f()

struct FloatQuat stab_sp_to_quat_f ( struct StabilizationSetpoint * sp )

Definition at line 373 of file stabilization.c.

References EULERS_FLOAT_OF_BFP, float_quat_identity(), float_quat_of_eulers(), QUAT_FLOAT_OF_BFP, quat_from_earth_cmd_f(), and quat_from_earth_cmd_i().

Referenced by stabilization_attitude_run(), and stabilization_indi_attitude_run().

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◆ stab_sp_to_quat_i()

struct Int32Quat stab_sp_to_quat_i ( struct StabilizationSetpoint * sp )

Definition at line 331 of file stabilization.c.

References EULERS_BFP_OF_REAL, int32_quat_identity(), int32_quat_of_eulers(), QUAT_BFP_OF_REAL, quat_from_earth_cmd_f(), and quat_from_earth_cmd_i().

Referenced by stabilization_attitude_run(), stabilization_attitude_run(), and stabilization_indi_attitude_run().

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◆ stab_sp_to_rates_f()

struct FloatRates stab_sp_to_rates_f ( struct StabilizationSetpoint * sp )

Definition at line 510 of file stabilization.c.

References RATES_FLOAT_OF_BFP.

Referenced by stabilization_indi_attitude_run(), stabilization_indi_rate_run(), and stabilization_rate_run().

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◆ stab_sp_to_rates_i()

struct Int32Rates stab_sp_to_rates_i ( struct StabilizationSetpoint * sp )

Definition at line 493 of file stabilization.c.

References RATES_BFP_OF_REAL.

◆ stabilization_attitude_read_rc()

struct StabilizationSetpoint WEAK stabilization_attitude_read_rc	(	bool	in_flight,
		bool	carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Retrun attitude setpoint from RC as euler angles.

weak function that can be re-implemeted if needed

Parameters

[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure

Returns: stabilization setpoint

Definition at line 172 of file stabilization.c.

References foo, Stabilization::rc_in, AttitudeRCInput::rc_quat, stab_sp_from_quat_f(), stabilization, stabilization_attitude_read_rc_setpoint(), and stabilization_attitude_read_rc_setpoint_earth_bound().

Referenced by rc_cb().

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◆ stabilization_attitude_reset_rc()

static void stabilization_attitude_reset_rc ( void )

static

Definition at line 132 of file stabilization.c.

References Stabilization::rc_in, Stabilization::rc_sp, stab_sp_from_quat_f(), stabilization, stabilization_attitude_reset_rc_setpoint(), and stateGetNedToBodyQuat_f().

Referenced by stabilization_mode_changed().

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◆ stabilization_filter_commands()

void stabilization_filter_commands ( void )

Command filter for vibrating airframes.

Definition at line 314 of file stabilization.c.

References Stabilization::cmd, foo, MAX_PPRZ, stabilization, and update_second_order_low_pass_int().

Referenced by stabilization_run().

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◆ stabilization_get_failsafe_sp()

struct StabilizationSetpoint stabilization_get_failsafe_sp ( void )

Get stabilization setpoint for failsafe.

Definition at line 275 of file stabilization.c.

References foo, FloatEulers::phi, FloatEulers::psi, stab_sp_from_eulers_f(), and stateGetNedToBodyEulers_f().

Referenced by autopilot_static_periodic().

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◆ stabilization_init()

void stabilization_init ( void )

Init function.

Definition at line 94 of file stabilization.c.

References Stabilization::att_submode, Stabilization::cmd, DefaultPeriodic, foo, SecondOrderLowPass_int::i, init_second_order_low_pass_int(), Stabilization::mode, rc_cb(), rc_ev, Stabilization::rc_in, Stabilization::rc_sp, register_periodic_telemetry(), send_tune_hover(), STAB_SP_SET_EULERS_ZERO, stabilization, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_rc_setpoint_init(), STABILIZATION_MODE_NONE, and STABILIZATION_RC_ID.

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◆ stabilization_mode_changed()

void stabilization_mode_changed	(	uint8_t	new_mode,
		uint8_t	submode
	)

Check mode change.

Definition at line 138 of file stabilization.c.

References Stabilization::att_submode, foo, Stabilization::mode, Stabilization::rc_in, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_attitude_reset_rc(), stabilization_direct_enter(), STABILIZATION_MODE_ATTITUDE, STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_NONE, STABILIZATION_MODE_RATE, and stabilization_rate_enter().

Referenced by autopilot_static_set_mode(), control_mixing_heewing_attitude_direct_enter(), control_mixing_heewing_attitude_plane_enter(), and control_mixing_heewing_nav_enter().

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◆ stabilization_run()

void stabilization_run	(	bool	in_flight,
		struct StabilizationSetpoint *	sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Call default stabilization control.

Parameters

[in]	in_flight	true if rotorcraft is flying
[in]	sp	pointer to the stabilization setpoint, computed in guidance or from RC
[in]	thrust	pointer to thrust setpoint computed by vertical guidance
[out]	cmd	pointer to the output command vector