Rotorcraft attitude stabilization in euler float version. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h"
#include "std.h"
#include "paparazzi.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	USE_ATT_REF 1

#define	MAX_SUM_ERR 200

Functions
static void	send_att (struct transport_tx trans, struct link_device dev)

static void	send_att_ref (struct transport_tx trans, struct link_device dev)

void	stabilization_attitude_euler_float_init (void)

void	stabilization_attitude_enter (void)
	Attitude control enter function. More...

void	stabilization_attitude_run (bool in_flight, struct StabilizationSetpoint sp, struct ThrustSetpoint thrust, int32_t *cmd)
	Attitude control run function. More...

Variables
struct FloatAttitudeGains	stabilization_gains

struct FloatEulers	stabilization_att_sum_err

static struct FloatEulers	stab_att_sp_euler

static struct AttRefEulerFloat	att_ref_euler_f

float	stabilization_att_fb_cmd [COMMANDS_NB]

float	stabilization_att_ff_cmd [COMMANDS_NB]

Detailed Description

Rotorcraft attitude stabilization in euler float version.

Definition in file stabilization_attitude_euler_float.c.

Macro Definition Documentation

◆ MAX_SUM_ERR

#define MAX_SUM_ERR 200

Definition at line 139 of file stabilization_attitude_euler_float.c.

◆ USE_ATT_REF

#define USE_ATT_REF 1

Definition at line 39 of file stabilization_attitude_euler_float.c.

Function Documentation

◆ send_att()

static void send_att	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 54 of file stabilization_attitude_euler_float.c.

References Stabilization::cmd, dev, foo, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, stab_att_sp_euler, stabilization, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stabilization_attitude_euler_float_init().

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◆ send_att_ref()

static void send_att_ref	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 80 of file stabilization_attitude_euler_float.c.

References AttRefEulerFloat::accel, att_ref_euler_f, dev, AttRefEulerFloat::euler, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, stab_att_sp_euler, and FloatEulers::theta.

Referenced by stabilization_attitude_euler_float_init().

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◆ stabilization_attitude_enter()

void stabilization_attitude_enter ( void )

Attitude control enter function.

Definition at line 131 of file stabilization_attitude_euler_float.c.

◆ stabilization_attitude_euler_float_init()

void stabilization_attitude_euler_float_init ( void )

Definition at line 98 of file stabilization_attitude_euler_float.c.

References att_ref_euler_f, attitude_ref_euler_float_init(), FloatAttitudeGains::d, FloatAttitudeGains::dd, DefaultPeriodic, FLOAT_EULERS_ZERO, FloatAttitudeGains::i, FloatAttitudeGains::p, register_periodic_telemetry(), send_att(), send_att_ref(), stabilization_att_sum_err, stabilization_gains, and VECT3_ASSIGN.

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◆ stabilization_attitude_run()

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

Attitude control run function.

Parameters

[in]	in_flight	true if in flight
[in]	sp	pointer to the stabilization setpoint structure
[in]	thrust	pointer to the thrust setoint structure
[out]	cmd	pointer to the output command vector