Paparazzi UAS  v5.15_devel-111-g8fb4629
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stabilization_attitude_heli_indi.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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21 
22 #ifndef STABILIZATION_ATTITUDE_HELI_INDI_H
23 #define STABILIZATION_ATTITUDE_HELI_INDI_H
24 
25 #include "math/pprz_algebra_int.h"
26 
27 #include "filters/notch_filter.h"
29 
30 #define __k 1
31 #define INDI_NR_FILTERS 2
32 #define INDI_DOF 4
33 #define INDI_ROLL 0
34 #define INDI_PITCH 1
35 #define INDI_YAW 2
36 #define INDI_THRUST 3
37 #define INDI_YAW_BUFFER_SIZE 9
38 
39 struct HeliIndiGains {
44 };
45 
46 /* All these values are in the struct to make it easier for logging */
60  bool enable_notch;
64  void (*apply_compensator_filters)(int32_t _out[], int32_t _in[]);
65  void (*apply_actuator_models)(int32_t _out[], int32_t _in[]);
68 };
69 
70 //extern struct IndiController_int heli_indi_ctl; // keep private
71 
73 extern struct Int32Quat stab_att_sp_quat;
74 extern struct Int32Eulers stab_att_sp_euler;
75 extern struct HeliIndiGains heli_indi_gains;
76 
80 
81 #endif /* STABILIZATION_ATTITUDE_HELI_INDI_H */
int16_t motor_rpm
RPM of the main motor.
int32_t filtered_measurement[INDI_NR_FILTERS][INDI_DOF]
Filtered measurement.
int32_t error[INDI_DOF]
virtual control minus measurement
int32_t command_out[2][INDI_DOF]
Command and command from previous measurement.
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
First order low-pass filter with delay.
Second order notch filter.
void stabilization_attitude_heli_indi_set_steadystate_pitchroll(void)
stabilization_attitude_heli_indi_set_steadystate_pitchroll
int32_t invG[INDI_DOF][INDI_DOF]
Inverse control effectiveness matrix.
void(* apply_actuator_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
struct delayed_first_order_lowpass_filter_t actuator_model[INDI_DOF]
int32_t actuator_out[INDI_DOF]
Actuator position.
void(* apply_compensator_filters)(int32_t _out[], int32_t _in[])
int32_t roll_comp_angle
Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.
#define INDI_NR_FILTERS
int32_t filtered_actuator[INDI_NR_FILTERS][INDI_DOF]
Filtered actuator position.
float sp_offset_pitch
Neutral pitch angle [deg].
int32_t reference[INDI_DOF]
Range -MAX_PPRZ:MAX_PPRZ.
euler angles
signed short int16_t
Definition: types.h:17
float sp_offset_roll
Neutral roll angle [deg].
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
bool enable_notch
Use notch filters.
struct HeliIndiGains heli_indi_gains
signed long int32_t
Definition: types.h:19
void stabilization_attitude_heli_indi_set_steadystate_roll(float roll)
stabilization_attitude_heli_indi_set_steadystate_roll
int32_t du[INDI_DOF]
Actuator commanded increment.
void(* apply_measurement_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
int32_t measurement[INDI_DOF]
Raw measurement.
void stabilization_attitude_heli_indi_set_steadystate_pitch(float pitch)
stabilization_attitude_heli_indi_set_steadystate_pitch
int32_t pitch_comp_angle
Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.
void(* apply_actuator_models)(int32_t _out[], int32_t _in[])
Rotation quaternion.
int32_t u_setpoint[INDI_DOF]
Actuator setpoint without compensator.
Paparazzi fixed point algebra.