Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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General stabilization interface for rotorcrafts. More...
#include "std.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
Go to the source code of this file.
Data Structures | |
struct | StabilizationSetpoint |
Stabilization setpoint. More... | |
union | StabilizationSetpoint.sp |
struct | StabilizationSetpoint.sp.ltp_i |
struct | StabilizationSetpoint.sp.ltp_f |
union | StabilizationSetpoint.r_sp |
Variables | |
int32_t | stabilization_cmd [COMMANDS_NB] |
Stabilization commands. More... | |
General stabilization interface for rotorcrafts.
Definition in file stabilization.h.
union StabilizationSetpoint.sp |
Definition at line 54 of file stabilization.h.
Data Fields | ||
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struct FloatEulers | eulers_f | |
struct Int32Eulers | eulers_i | |
sp | ltp_f | |
sp | ltp_i | |
struct FloatQuat | quat_f | |
struct Int32Quat | quat_i |
struct StabilizationSetpoint.sp.ltp_i |
Definition at line 59 of file stabilization.h.
Data Fields | ||
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int32_t | heading | |
struct Int32Vect2 | vect |
struct StabilizationSetpoint.sp.ltp_f |
Definition at line 60 of file stabilization.h.
Data Fields | ||
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float | heading | |
struct FloatVect2 | vect |
union StabilizationSetpoint.r_sp |
Definition at line 62 of file stabilization.h.
Data Fields | ||
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struct FloatRates | rates_f | |
struct Int32Rates | rates_i |
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().
struct StabilizationSetpoint stab_sp_from_eulers_i | ( | struct Int32Eulers * | eulers | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_ltp_f | ( | struct FloatVect2 * | vect, |
float | heading | ||
) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_ltp_i | ( | struct Int32Vect2 * | vect, |
int32_t | heading | ||
) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_f | ( | struct FloatQuat * | quat | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_ff_rates_f | ( | struct FloatQuat * | quat, |
struct FloatRates * | rates | ||
) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_i | ( | struct Int32Quat * | quat | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_rates_f | ( | struct FloatRates * | rates | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_rates_i | ( | struct Int32Rates * | rates | ) |
Definition at line 106 of file stabilization.c.
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().
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().
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().
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().
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().
struct Int32Rates stab_sp_to_rates_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
void stabilization_filter_commands | ( | void | ) |
Definition at line 106 of file stabilization.c.
Referenced by guidance_h_run().
void stabilization_init | ( | void | ) |
Definition at line 57 of file stabilization.c.
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extern |
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().