Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization.h File Reference

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"
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Data Structures

struct  StabilizationSetpoint
 Stabilization setpoint. More...
 
union  StabilizationSetpoint.sp
 
struct  StabilizationSetpoint.sp.ltp_i
 
struct  StabilizationSetpoint.sp.ltp_f
 
union  StabilizationSetpoint.r_sp
 

Functions

void stabilization_init (void)
 
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.h.


Data Structure Documentation

◆ StabilizationSetpoint.sp

union StabilizationSetpoint.sp

Definition at line 54 of file stabilization.h.

Data Fields
struct FloatEulers eulers_f
struct Int32Eulers eulers_i
sp ltp_f
sp ltp_i
struct FloatQuat quat_f
struct Int32Quat quat_i

◆ StabilizationSetpoint.sp.ltp_i

struct StabilizationSetpoint.sp.ltp_i

Definition at line 59 of file stabilization.h.

Data Fields
int32_t heading
struct Int32Vect2 vect

◆ StabilizationSetpoint.sp.ltp_f

struct StabilizationSetpoint.sp.ltp_f

Definition at line 60 of file stabilization.h.

Data Fields
float heading
struct FloatVect2 vect

◆ StabilizationSetpoint.r_sp

union StabilizationSetpoint.r_sp

Definition at line 62 of file stabilization.h.

Data Fields
struct FloatRates rates_f
struct Int32Rates rates_i

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_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