22 #ifndef STABILIZATION_ATTITUDE_HELI_INDI_H
23 #define STABILIZATION_ATTITUDE_HELI_INDI_H
31 #define INDI_NR_FILTERS 2
37 #define INDI_YAW_BUFFER_SIZE 9
First order low-pass filter with delay.
Second order notch filter.
Paparazzi fixed point algebra.
General attitude stabilization interface for rotorcrafts.
struct delayed_first_order_lowpass_filter_t actuator_model[INDI_DOF]
void stabilization_attitude_heli_indi_set_steadystate_roll(float roll)
stabilization_attitude_heli_indi_set_steadystate_roll
void stabilization_attitude_heli_indi_set_steadystate_pitch(float pitch)
stabilization_attitude_heli_indi_set_steadystate_pitch
void stabilization_attitude_heli_indi_set_steadystate_pitchroll(void)
stabilization_attitude_heli_indi_set_steadystate_pitchroll
void stabilization_attitude_heli_indi_init(void)
stabilization_attitude_heli_indi_init
struct HeliIndiGains heli_indi_gains
int32_t reference[INDI_DOF]
Range -MAX_PPRZ:MAX_PPRZ.
float sp_offset_pitch
Neutral pitch angle [deg].
int32_t command_out[2][INDI_DOF]
Command and command from previous measurement.
int32_t filtered_measurement[INDI_NR_FILTERS][INDI_DOF]
Filtered measurement.
int32_t measurement[INDI_DOF]
Raw measurement.
int32_t error[INDI_DOF]
virtual control minus measurement
float sp_offset_roll
Neutral roll angle [deg].
int32_t actuator_out[INDI_DOF]
Actuator position.
void(* apply_compensator_filters)(int32_t _out[], int32_t _in[])
void(* apply_actuator_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
int32_t du[INDI_DOF]
Actuator commanded increment.
int32_t pitch_comp_angle
Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.
int32_t roll_comp_angle
Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.
int32_t invG[INDI_DOF][INDI_DOF]
Inverse control effectiveness matrix.
bool enable_notch
Use notch filters.
void(* apply_actuator_models)(int32_t _out[], int32_t _in[])
int16_t motor_rpm
RPM of the main motor.
int32_t u_setpoint[INDI_DOF]
Actuator setpoint without compensator.
int32_t filtered_actuator[INDI_NR_FILTERS][INDI_DOF]
Filtered actuator position.
void(* apply_measurement_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
int int32_t
Typedef defining 32 bit int type.
short int16_t
Typedef defining 16 bit short type.