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stabilization_attitude_euler_float.c File Reference

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

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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_init (void)
 
void stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 
void stabilization_attitude_enter (void)
 
void stabilization_attitude_set_failsafe_setpoint (void)
 
void stabilization_attitude_set_rpy_setpoint_i (struct Int32Eulers *rpy)
 
void stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
 
void stabilization_attitude_run (bool in_flight)
 

Variables

struct FloatAttitudeGains stabilization_gains
 
struct FloatEulers stabilization_att_sum_err
 
struct FloatEulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
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

#define MAX_SUM_ERR   200

Definition at line 174 of file stabilization_attitude_euler_float.c.

Referenced by stabilization_attitude_run().

#define USE_ATT_REF   1

Definition at line 39 of file stabilization_attitude_euler_float.c.

Function Documentation

static void send_att ( struct transport_tx *  trans,
struct link_device *  dev 
)
static
static void send_att_ref ( struct transport_tx *  trans,
struct link_device *  dev 
)
static
void stabilization_attitude_enter ( void  )
void stabilization_attitude_read_rc ( bool  in_flight,
bool  in_carefree,
bool  coordinated_turn 
)

Definition at line 131 of file stabilization_attitude_euler_float.c.

References stab_att_sp_euler, and stabilization_attitude_read_rc_setpoint_eulers_f().

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void stabilization_attitude_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)
void stabilization_attitude_set_failsafe_setpoint ( void  )

Definition at line 147 of file stabilization_attitude_euler_float.c.

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

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void stabilization_attitude_set_rpy_setpoint_i ( struct Int32Eulers rpy)

Definition at line 154 of file stabilization_attitude_euler_float.c.

References EULERS_FLOAT_OF_BFP, and stab_att_sp_euler.

Variable Documentation

float stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 48 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

float stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 49 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

struct FloatAttitudeGains stabilization_gains