ANDI stabilization controller for tiltbody rotorcraft. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "generated/airframe.h"
#include <stdio.h>
#include "filters/low_pass_filter.h"

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Data Structures
struct	AttQuat
	Structure representing attitude in quaternion form along with its first three derivatives, used for reference. More...

struct	AttStateQuat
	Structure representing attitude in quaternion form along with its first two derivatives, used for state. More...

struct	LinState
	Structure representing linear state with velocity and acceleration vectors. More...

struct	ThrustRef
	Structure representing (specific) thrust reference and its derivative. More...

struct	PolesOrder3Vect3
	Structure defining third-order pole parameters for vectorized 3D quantities. More...

struct	PolesOrder2Vect3
	Structure defining second-order pole parameters for vectorized 3D quantities. More...

struct	GainsOrder2Vect3
	Structure defining second-order gain parameters for vectorized 3D quantities. More...

struct	GainsOrder3Vect3
	Structure defining third-order gain parameters for vectorized 3D quantities. More...

Macros
#define	ANDI_NUM_ACT COMMANDS_NB_REAL

Functions
void	stabilization_andi_init (void)

void	stabilization_andi_enter (void)
	Initializes the ANDI stabilization controller state upon entering stabilization mode.

void	stabilization_andi_run (bool use_rate_control, bool in_flight, struct StabilizationSetpoint stab_setpoint, struct ThrustSetpoint thrust_setpoint, int32_t *cmd)
	Main ANDI stabilization control loop.

struct FloatVect3	evaluate_obm_forces (const struct FloatRates rates, const struct FloatVect3 vel_body, const float actuator_state[ANDI_NUM_ACT])
	Evaluate total force acting on the vehicle from the OBM.

struct FloatVect3	evaluate_obm_moments (const struct FloatRates rates, const struct FloatVect3 vel_body, const float actuator_state[ANDI_NUM_ACT])
	Evaluate total moments acting on the vehicle from the OBM.

void	evaluate_obm_f_stb_u (float fu_mat[ANDI_NUM_ACT ANDI_OUTPUTS], const struct FloatRates rates, const struct FloatVect3 *vel_body, const float actuator_state[ANDI_NUM_ACT])
	Evaluate the state-dependent control effectiveness matrix F_u for stabilization.

void	evaluate_obm_f_stb_x (float nu_obm[ANDI_OUTPUTS], const struct FloatRates rates, const struct FloatVect3 vel_body, const struct FloatVect3 ang_accel, const struct FloatVect3 accel_body, const float actuator_state[ANDI_NUM_ACT])
	Evaluate the state-dependent contribution F_x * x_dot for stabilization.

float	evaluate_obm_thrust_z (const float actuator_state[ANDI_NUM_ACT])
	Compute total thrust produced by the current actuator state.

Variables
struct PolesOrder2Vect3	andi_p_rate_ec

struct PolesOrder2Vect3	andi_p_rate_rm

struct PolesOrder3Vect3	andi_p_att_ec

struct PolesOrder3Vect3	andi_p_att_rm

float	andi_p_thrust_ec

float	andi_p_thrust_rm

Detailed Description

ANDI stabilization controller for tiltbody rotorcraft.

Provides declarations, configuration parameters, and interfaces for the ANDI controller implemented in stabilization_andi.c.

See also: stabilization_andi.c

Author: Justin Dubois j.p.g.nosp@m..dub.nosp@m.ois@s.nosp@m.tude.nosp@m.nt.tu.nosp@m.delf.nosp@m.t.nl

Definition in file stabilization_andi.h.

Data Structure Documentation

◆ AttQuat

struct AttQuat

Structure representing attitude in quaternion form along with its first three derivatives, used for reference.

This structure encapsulates the attitude represented as a quaternion, its first derivative (angular rates), second derivative (angular accelerations), and third derivative (angular jerks). It is primarily used for reference representation in the ANDI controller.

Definition at line 60 of file stabilization_andi.h.

Collaboration diagram for AttQuat:

Data Fields
struct FloatQuat	att
struct FloatVect3	att_2d
struct FloatVect3	att_3d
struct FloatRates	att_d

◆ AttStateQuat

struct AttStateQuat

Structure representing attitude in quaternion form along with its first two derivatives, used for state.

This structure encapsulates the attitude represented as a quaternion, its first derivative (angular rates), and second derivative (angular accelerations). It is primarily used for state representation in the ANDI controller.

Definition at line 74 of file stabilization_andi.h.

Collaboration diagram for AttStateQuat:

Data Fields
struct FloatQuat	att
struct FloatVect3	att_2d
struct FloatRates	att_d

◆ LinState

struct LinState

Structure representing linear state with velocity and acceleration vectors.

This structure encapsulates the linear state of the vehicle, including its velocity and acceleration as 3D vectors.

Definition at line 86 of file stabilization_andi.h.

Collaboration diagram for LinState:

Data Fields
struct FloatVect3	acc
struct FloatVect3	vel

◆ ThrustRef

struct ThrustRef

Structure representing (specific) thrust reference and its derivative.

This structure encapsulates the thrust reference, including the thrust value and its first derivative.

Definition at line 97 of file stabilization_andi.h.

Data Fields
float	thrust
float	thrust_d

◆ PolesOrder3Vect3

struct PolesOrder3Vect3

Structure defining third-order pole parameters for vectorized 3D quantities.

This structure holds the natural frequencies, damping ratios, and the pseudo actuator dynamics.

Definition at line 108 of file stabilization_andi.h.

Collaboration diagram for PolesOrder3Vect3:

Data Fields
struct FloatVect3	omega_a
struct FloatVect3	omega_n
struct FloatVect3	zeta

◆ PolesOrder2Vect3

struct PolesOrder2Vect3

Structure defining second-order pole parameters for vectorized 3D quantities.

This structure holds the natural frequencies and damping ratios.

Definition at line 119 of file stabilization_andi.h.

Collaboration diagram for PolesOrder2Vect3:

Data Fields
struct FloatVect3	omega_a
struct FloatVect3	zeta

◆ GainsOrder2Vect3

struct GainsOrder2Vect3

Structure defining second-order gain parameters for vectorized 3D quantities.

Definition at line 127 of file stabilization_andi.h.

Collaboration diagram for GainsOrder2Vect3:

Data Fields
struct FloatVect3	k1
struct FloatVect3	k2

◆ GainsOrder3Vect3

struct GainsOrder3Vect3

Structure defining third-order gain parameters for vectorized 3D quantities.

Definition at line 135 of file stabilization_andi.h.

Collaboration diagram for GainsOrder3Vect3:

Data Fields
struct FloatVect3	k1
struct FloatVect3	k2
struct FloatVect3	k3

Macro Definition Documentation

◆ ANDI_NUM_ACT

#define ANDI_NUM_ACT COMMANDS_NB_REAL

Definition at line 45 of file stabilization_andi.h.

Function Documentation

◆ evaluate_obm_f_stb_u()

void evaluate_obm_f_stb_u	(	float	fu_mat[ANDI_NUM_ACT *ANDI_OUTPUTS],
		const struct FloatRates *	rates,
		const struct FloatVect3 *	vel_body,
		const float	actuator_state[ANDI_NUM_ACT]
	)

Evaluate the state-dependent control effectiveness matrix F_u for stabilization.

This function computes the mapping from actuator inputs to aerodynamic/motor outputs for the stabilization model. The output is written into the provided, pre-allocated array fu_mat of size ANDI_NUM_ACT * ANDI_OUTPUTS.

The produced matrix represents the partial derivatives of the modeled outputs with respect to actuator commands (∂f/∂u) evaluated at the current state and actuator conditions. It is intended to be implemented per-airframe (see obm_cyclone for an example).

Parameters

[out]	fu_mat	Pre-allocated array (size ANDI_NUM_ACT * ANDI_OUTPUTS) receiving the flattened control-effectiveness matrix. Convention: element for output i and actuator j should be written to fu_mat[i * ANDI_NUM_ACT + j].
[in]	rates	Current angular rates (typically p, q, r) used by the model (rad/s).
[in]	vel_body	Body-frame linear velocity vector (u, v, w) (m/s).
[in]	actuator_state	Current actuator commands/deflections array (length ANDI_NUM_ACT). Units and normalization depend on the airframe and actuator type (e.g. radians, throttle fraction).

Note: Implementations are airframe-specific and must account for the particular actuator layout and aerodynamic/motor characteristics of the platform.

See also: obm_cyclone.c

Definition at line 319 of file obm_cyclone.c.

References actuator_state, ANDI_NUM_ACT, ce_mat_tmp, cyclone_f_stb_u(), CeMatrix::data, CycloneCoefficients::data, foo, obm_coefficients, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_andi_enter(), stabilization_andi_init(), and stabilization_andi_run().

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◆ evaluate_obm_f_stb_x()

void evaluate_obm_f_stb_x	(	float	nu_obm[ANDI_OUTPUTS],
		const struct FloatRates *	rates,
		const struct FloatVect3 *	vel_body,
		const struct FloatVect3 *	ang_accel,
		const struct FloatVect3 *	accel_body,
		const float	actuator_state[ANDI_NUM_ACT]
	)

Evaluate the state-dependent contribution F_x * x_dot for stabilization.

Computes nu_obm = F_x * x_dot, the portion of the open-body-model outputs that depends on the current state rates/accelerations (i.e. the state-dependent term). This is the term that captures how changes in state drive the modeled outputs independent of actuator inputs.

Note: This contribution is often neglected for INDI, but can be included for ANDI.

Parameters

[out]	nu_obm	Pre-allocated output vector of length ANDI_OUTPUTS receiving the computed F_x * x_dot values.
[in]	rates	Current angular rates (p, q, r) used by the model (rad/s).
[in]	vel_body	Body-frame velocity vector (u, v, w) (m/s).
[in]	ang_accel	Body angular accelerations (p_dot, q_dot, r_dot) (rad/s^2).
[in]	accel_body	Body-frame linear accelerations (ax, ay, az) (m/s^2).
[in]	actuator_state	Current actuator commands/deflections array (length ANDI_NUM_ACT). Some terms of F_x may be actuator-state dependent (e.g. rotor wake effects).

Note: The function computes only the state-dependent part of the model. The full modeled output is typically nu_obm + F_u * delta_u (where F_u is provided by evaluate_obm_f_stb_u). Implementations must be provided per airframe.

See also: obm_cyclone.c

Definition at line 345 of file obm_cyclone.c.

References actuator_state, cyclone_f_stb_x(), CycloneCoefficients::data, foo, nu_obm, obm_coefficients, FloatRates::p, FloatRates::q, FloatRates::r, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_andi_run().

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◆ evaluate_obm_forces()

struct FloatVect3 evaluate_obm_forces	(	const struct FloatRates *	rates,
		const struct FloatVect3 *	vel_body,
		const float	actuator_state[ANDI_NUM_ACT]
	)

Evaluate total force acting on the vehicle from the OBM.

Computes the full set of forces modeled by the on board model for the given airframe as a function of the state and input.

This function is used for complementary filtering in ANDI.

Parameters

[in]	rates	Current angular rates (p, q, r) used by the model (rad/s).
[in]	vel_body	Body-frame linear velocity vector (u, v, w) (m/s).
[in]	actuator_state	Current actuator commands/deflections array (length ANDI_NUM_ACT). Units and normalization depend on the airframe and actuator type (e.g. radians, throttle fraction).

Returns: Computed force vector produced by the actuators as per the OBM.

Note: Implementation is airframe-specific.

See also: obm_cyclone.c

Definition at line 273 of file obm_cyclone.c.

References actuator_state, cyclone_obm_forces(), CycloneCoefficients::data, foo, obm_coefficients, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_andi_run().

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◆ evaluate_obm_moments()

struct FloatVect3 evaluate_obm_moments	(	const struct FloatRates *	rates,
		const struct FloatVect3 *	vel_body,
		const float	actuator_state[ANDI_NUM_ACT]
	)

Evaluate total moments acting on the vehicle from the OBM.

Computes the full set of moments modeled by the on board model for the given airframe as a function of the state and input.

This function is used for complementary filtering in ANDI.

Parameters

[in]	rates	Current angular rates (p, q, r) used by the model (rad/s).
[in]	vel_body	Body-frame linear velocity vector (u, v, w) (m/s).
[in]	actuator_state	Current actuator commands/deflections array (length ANDI_NUM_ACT). Units and normalization depend on the airframe and actuator type (e.g. radians, throttle fraction).

Returns: Computed moment vector produced by the actuators as per the OBM.

Note: Implementation is airframe-specific.

See also: obm_cyclone.c

Definition at line 294 of file obm_cyclone.c.

References actuator_state, cyclone_obm_moments(), CycloneCoefficients::data, foo, moments, obm_coefficients, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_andi_run().

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◆ evaluate_obm_thrust_z()

float evaluate_obm_thrust_z ( const float actuator_state[ANDI_NUM_ACT] )

Compute total thrust produced by the current actuator state.

Returns the aggregate thrust generated by the set of actuators described by actuator_state. This value is typically used by the stabilization/obm code when converting actuator commands to net force for direct thrust control.

Note: This function does not intend to accurately compute the thrust force; it only returns an approximation of the total specific thrust in the body z-direction. The intended use is as feedback for direct throttle control in ANDI stabilization.

Parameters

[in] actuator_state Current actuator commands/deflections array (length ANDI_NUM_ACT). Units and normalization depend on the airframe (e.g. rotor collective, throttle fraction).

Returns: Total specific thrust produced by the actuators (SI units, m/s^2). If the airframe model uses a normalized thrust unit, document that convention in the airframe implementation.

Note: Implementation is airframe-specific.

See also: obm_cyclone.c

Definition at line 375 of file obm_cyclone.c.

References actuator_state, and obm_coefficients.

Referenced by stabilization_andi_enter(), and stabilization_andi_run().

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◆ stabilization_andi_enter()

void stabilization_andi_enter ( void )

Initializes the ANDI stabilization controller state upon entering stabilization mode.

This function resets all relevant state variables, filters, and actuator states to match the current measurements when entering the ANDI stabilization mode. It ensures that the controller starts from a consistent state when entering stabilization.

NOTE: This function currently assumes that the actuator feedback message is being received. FIXME: Transient free initialization for the cascaded complementary filters is not implemented.

Definition at line 1094 of file stabilization_andi.c.

References LinState::acc, actuator_obm_delay, actuator_obm_zohlpf, ACTUATOR_PREF, actuator_state, actuators_t4_obs, ANDI_NUM_ACT, ANDI_OUTPUTS, angular_rates_obm, AttQuat::att, AttStateQuat::att, AttQuat::att_2d, AttStateQuat::att_2d, AttQuat::att_3d, AttQuat::att_d, AttStateQuat::att_d, attitude_accel_cf, attitude_rates_cf, attitude_ref, attitude_state_cf, ce_mat, evaluate_obm_f_stb_u(), evaluate_obm_thrust_z(), fetch_actuators_t4(), float_quat_vmult(), float_vect_zero(), linear_accel_cf, linear_state_cf, linear_vel_cf, linear_velocity_obm, nu_obm, FloatRates::p, FloatRates::q, FloatRates::r, rates_prev, reset_butterworth_2_complementary_vect3(), reset_first_order_complementary_rates(), reset_first_order_complementary_vect3(), reset_first_order_zoh_low_pass_array(), reset_transport_delay_array(), stateGetBodyRates_f(), stateGetNedToBodyQuat_f(), stateGetSpeedNed_f(), ThrustRef::thrust, ThrustRef::thrust_d, thrust_ref, thrust_state, u_cmd, LinState::vel, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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◆ stabilization_andi_init()

void stabilization_andi_init ( void )

Definition at line 976 of file stabilization_andi.c.

References ABI_BROADCAST, LinState::acc, ACTUATOR_DELAY, actuator_obm_delay, actuator_obm_zohlpf, ACTUATOR_PREF, actuator_state, actuators_t4_in_callback(), actuators_t4_in_event, andi_k_att_ec, andi_k_att_rm, andi_k_rate_ec, andi_k_rate_rm, andi_k_thrust_ec, andi_k_thrust_rm, ANDI_NUM_ACT, andi_p_att_ec, andi_p_att_rm, andi_p_rate_ec, andi_p_rate_rm, andi_p_thrust_ec, andi_p_thrust_rm, angular_rates_obm, AttQuat::att, AttStateQuat::att, AttQuat::att_2d, AttStateQuat::att_2d, AttQuat::att_3d, AttQuat::att_d, AttStateQuat::att_d, attitude_accel_cf, attitude_bounds, attitude_rates_cf, attitude_ref, attitude_state_cf, ce_mat, compute_error_gains_order_2_vect_3(), compute_error_gains_order_3_vect_3(), compute_reference_gains_order_2_vect_3(), compute_reference_gains_order_3_vect_3(), DefaultPeriodic, du_cmd, evaluate_obm_f_stb_u(), float_quat_identity(), float_vect_zero(), foo, init_butterworth_2_complementary_vect3(), init_first_order_complementary_vect3(), init_first_order_zoh_low_pass_array(), init_transport_delay_array(), linear_accel_cf, linear_state_cf, linear_vel_cf, linear_velocity_obm, nu_ec, nu_obj, nu_obm, FloatRates::p, FloatRates::q, FloatRates::r, rates_prev, register_periodic_telemetry(), send_eff_mat_stabilization_andi(), send_stab_attitude_stabilization_andi(), send_wls_u_stabilization_andi(), send_wls_v_stabilization_andi(), ThrustRef::thrust, thrust_bounds_max, thrust_bounds_min, ThrustRef::thrust_d, THRUST_MIN, thrust_ref, thrust_state, u_cmd, LinState::vel, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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◆ stabilization_andi_run()

void stabilization_andi_run	(	bool	use_rate_control,
		bool	in_flight,
		struct StabilizationSetpoint *	stab_setpoint,
		struct ThrustSetpoint *	thrust_setpoint,
		int32_t *	cmd
	)

Main ANDI stabilization control loop.

This function implements the core logic of the ANDI stabilization controller. The following steps are performed each time the function is called:

Fetch measurements:

Linear state (velocity and acceleration)
Attitude state (quaternion, angular rates, angular accelerations)
Actuator states (from T4 feedback and/or on-board model estimates)

Filtering:

Apply cascaded complementary filtering to obtain an undelayed estimates of attitude and linear states. (used for state dependent model contribution (and scheduling))
Apply low-pass filtering to obtain synchronized (delayed) estimates of attitude and thrust states. (used for control error computation)

Reference generation:

Generate reference models for attitude and thrust using desired setpoints and reference model gains.
Apply low-pass filtering to the references to synchronize with measurement lag.

Pseudo-command computation:

Compute error controller pseudo command for attitude and thrust reference and feedback using parallel error controller.
Compute state dependent on-board model pseudo command contribution based on undelayed state estimates.
Combine pseudo commands to form the overall virtual control input vector.

Actuator command allocation:

Update the control effectiveness matrix based on the current state.
Compute actuator commands using weighted least squares allocation with bounds and scaling.

Parameters

[in]	use_rate_control	Flag indicating whether to use rate control mode.
[in]	in_flight	Flag indicating whether the vehicle is in flight.
[in,out]	stab_setpoint	Pointer to the stabilization setpoint structure.
[in,out]	thrust_setpoint	Pointer to the thrust setpoint structure.
[out]	cmd	Pointer to the output command array for actuators.

Note: The attitude stabilization mode is ATTITUDE_HEADING_MODE. A heading estimate and setpoint is needed. Consider implementing ATTITUDE_HEADING_RATE_MODE to avoid needing a heading estimate.

FIXME: The function currently recomputes gains at each call. This could be optimized to only recompute when parameters change. FIXME: The choice of actuator feedback source (T4 vs on-board model) should be configurable.

Definition at line 1185 of file stabilization_andi.c.

References LinState::acc, actuator_meas, actuator_obm_delay, actuator_obm_zohlpf, actuator_state, actuators_t4_obs, andi_k_att_ec, andi_k_att_rm, andi_k_rate_ec, andi_k_rate_rm, andi_k_thrust_ec, andi_k_thrust_rm, ANDI_NUM_ACT, ANDI_OUTPUTS, andi_p_att_ec, andi_p_att_rm, andi_p_rate_ec, andi_p_rate_rm, andi_p_thrust_ec, andi_p_thrust_rm, ANDI_RELAX_OBM, angular_rates_obm, AttStateQuat::att, AttStateQuat::att_2d, AttStateQuat::att_d, attitude_accel_cf, attitude_bounds, attitude_des, attitude_rates_cf, attitude_ref, attitude_state_cf, ce_mat, commands, compute_error_gains_order_2_vect_3(), compute_error_gains_order_3_vect_3(), compute_reference_gains_order_2_vect_3(), compute_reference_gains_order_3_vect_3(), compute_wls_lower_bounds(), compute_wls_u_scaler(), compute_wls_upper_bounds(), control_error_attitude(), control_error_rate(), control_error_thrust(), du_cmd, du_max, du_min, evaluate_obm_f_stb_u(), evaluate_obm_f_stb_x(), evaluate_obm_forces(), evaluate_obm_moments(), evaluate_obm_thrust_z(), fetch_actuators_t4(), float_quat_vmult(), float_rates_vect3_integrate_fi(), float_vect3_integrate_fi(), float_vect_zero(), foo, generate_reference_attitude(), generate_reference_rate(), generate_reference_thrust(), get_butterworth_2_complementary_vect3(), get_first_order_complementary_rates(), get_first_order_complementary_vect3(), get_first_order_zoh_low_pass_array(), get_transport_delay_array(), linear_accel_cf, linear_state_cf, linear_vel_cf, linear_velocity_obm, MAX_PPRZ, nu_ec, nu_obj, nu_obm, FloatRates::p, FloatRates::q, FloatRates::r, rates_des, rates_prev, SCHEDULE_EFF, stab_sp_to_quat_f(), stab_sp_to_rates_f(), stateGetAccelBody_f(), stateGetBodyRates_f(), stateGetNedToBodyQuat_f(), stateGetSpeedNed_f(), th_sp_to_thrust_f(), THRUST_AXIS_Z, thrust_bounds_max, thrust_bounds_min, thrust_des, thrust_ref, thrust_state, WLS_t::u, u_cmd, WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, update_butterworth_2_complementary_vect3(), update_first_order_complementary_rates(), update_first_order_complementary_vect3(), update_first_order_zoh_low_pass_array(), update_transport_delay_array(), USE_STATE_DYNAMICS, WLS_t::v, LinState::vel, wls_alloc(), wls_stab_p, WLS_WU, WLS_WV, WLS_t::Wu, and WLS_t::Wv.

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Variable Documentation

◆ andi_p_att_ec

struct PolesOrder3Vect3 andi_p_att_ec

extern

Definition at line 286 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

◆ andi_p_att_rm

struct PolesOrder3Vect3 andi_p_att_rm

extern

Definition at line 303 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

◆ andi_p_rate_ec

struct PolesOrder2Vect3 andi_p_rate_ec

extern

Definition at line 262 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

◆ andi_p_rate_rm

struct PolesOrder2Vect3 andi_p_rate_rm

extern

Definition at line 274 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

◆ andi_p_thrust_ec

float andi_p_thrust_ec

extern

Definition at line 320 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

◆ andi_p_thrust_rm

float andi_p_thrust_rm

extern

Definition at line 321 of file stabilization_andi.c.

Referenced by stabilization_andi_init(), and stabilization_andi_run().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ AttQuat

◆ AttStateQuat

◆ LinState

◆ ThrustRef

◆ PolesOrder3Vect3

◆ PolesOrder2Vect3

◆ GainsOrder2Vect3

◆ GainsOrder3Vect3

Macro Definition Documentation

◆ ANDI_NUM_ACT

Function Documentation

◆ evaluate_obm_f_stb_u()

◆ evaluate_obm_f_stb_x()

◆ evaluate_obm_forces()

◆ evaluate_obm_moments()

◆ evaluate_obm_thrust_z()

◆ stabilization_andi_enter()

◆ stabilization_andi_init()

◆ stabilization_andi_run()

Variable Documentation

◆ andi_p_att_ec

◆ andi_p_att_rm

◆ andi_p_rate_ec

◆ andi_p_rate_rm

◆ andi_p_thrust_ec

◆ andi_p_thrust_rm