stabilization_attitude_plane_pid.c File Reference

Basic fixed-wing attitude stabilization in euler float version. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_plane_pid.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	MAX_SUM_ERR   200

Functions
static void	send_att (struct transport_tx *trans, struct link_device *dev)
void	stabilization_attitude_plane_pid_init (void)
void	stabilization_attitude_plane_pid_enter (void)
void	stabilization_attitude_plane_pid_run (bool in_flight, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)

Variables
struct PlaneAttitudeGains	stab_plane_gains
struct FloatEulers	stab_plane_att_sum_err
static struct FloatEulers	stab_att_sp_euler
float	stab_plane_att_cmd [COMMANDS_NB]

Detailed Description

Basic fixed-wing attitude stabilization in euler float version.

Definition in file stabilization_attitude_plane_pid.c.

Macro Definition Documentation

MAX_SUM_ERR

#define MAX_SUM_ERR   200

Definition at line 100 of file stabilization_attitude_plane_pid.c.

Function Documentation

send_att()

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

static

Definition at line 46 of file stabilization_attitude_plane_pid.c.

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

Referenced by stabilization_attitude_plane_pid_init().

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stabilization_attitude_plane_pid_enter()

void stabilization_attitude_plane_pid_enter

(

void

)

Definition at line 95 of file stabilization_attitude_plane_pid.c.

References FLOAT_EULERS_ZERO, and stab_plane_att_sum_err.

Referenced by control_mixing_heewing_attitude_plane_enter().

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stabilization_attitude_plane_pid_init()

void stabilization_attitude_plane_pid_init

(

void

)

Definition at line 71 of file stabilization_attitude_plane_pid.c.

References PlaneAttitudeGains::d, DefaultPeriodic, FLOAT_EULERS_ZERO, foo, PlaneAttitudeGains::i, PlaneAttitudeGains::p, register_periodic_telemetry(), send_att(), stab_plane_att_sum_err, stab_plane_gains, and VECT3_ASSIGN.

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stabilization_attitude_plane_pid_run()

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

Definition at line 102 of file stabilization_attitude_plane_pid.c.

References PlaneAttitudeGains::d, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_DIFF, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, foo, PlaneAttitudeGains::i, MAX_PPRZ, MAX_SUM_ERR, PlaneAttitudeGains::p, FloatEulers::phi, RATES_DIFF, stab_att_sp_euler, stab_plane_att_cmd, stab_plane_att_sum_err, stab_plane_gains, stab_sp_to_eulers_f(), stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), th_sp_to_thrust_i(), FloatEulers::theta, THRUST_AXIS_X, FloatVect3::x, and FloatVect3::y.

Referenced by control_mixing_heewing_attitude_plane(), and control_mixing_heewing_nav_run().

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Variable Documentation

stab_att_sp_euler

struct FloatEulers stab_att_sp_euler

static

Definition at line 39 of file stabilization_attitude_plane_pid.c.

Referenced by send_att(), and stabilization_attitude_plane_pid_run().

stab_plane_att_cmd

float stab_plane_att_cmd[COMMANDS_NB]

Definition at line 41 of file stabilization_attitude_plane_pid.c.

Referenced by send_att(), and stabilization_attitude_plane_pid_run().

stab_plane_att_sum_err

struct FloatEulers stab_plane_att_sum_err

Definition at line 37 of file stabilization_attitude_plane_pid.c.

Referenced by send_att(), stabilization_attitude_plane_pid_enter(), stabilization_attitude_plane_pid_init(), and stabilization_attitude_plane_pid_run().

stab_plane_gains

struct PlaneAttitudeGains stab_plane_gains

Definition at line 36 of file stabilization_attitude_plane_pid.c.

Referenced by stabilization_attitude_plane_pid_init(), and stabilization_attitude_plane_pid_run().