passthrough attitude stabilization More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h"
#include "state.h"
#include "paparazzi.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "generated/airframe.h"

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Macros
#define	TRAJ_MAX_BANK (int32_t)ANGLE_BFP_OF_REAL(GUIDANCE_H_MAX_BANK)

Functions
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...

Detailed Description

passthrough attitude stabilization

This is useful for instance when having an AC that has needs no stabilization because it is already been done by other stabilization software onboard or just does not need it at all.

Definition in file stabilization_attitude_passthrough.c.

Macro Definition Documentation

◆ TRAJ_MAX_BANK

#define TRAJ_MAX_BANK (int32_t)ANGLE_BFP_OF_REAL(GUIDANCE_H_MAX_BANK)

Definition at line 37 of file stabilization_attitude_passthrough.c.

Function Documentation

◆ stabilization_attitude_enter()

void stabilization_attitude_enter ( void )

Attitude control enter function.

Definition at line 39 of file stabilization_attitude_passthrough.c.

◆ 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

Definition at line 43 of file stabilization_attitude_passthrough.c.

References INT32_ANGLE_NORMALIZE, MAX_PPRZ, Int32Eulers::phi, Int32Eulers::psi, stab_sp_to_eulers_i(), stateGetNedToBodyEulers_i(), th_sp_to_thrust_i(), Int32Eulers::theta, THRUST_AXIS_Z, and TRAJ_MAX_BANK.

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