stabilization_attitude_quat_int.c File Reference

Rotorcraft quaternion attitude stabilization. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "std.h"
#include "paparazzi.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_ATTITUDE_PHI_FFDGAIN   0
	explicitly define to zero to disable feed-forward rate term by default
#define	STABILIZATION_ATTITUDE_THETA_FFDGAIN   0
#define	STABILIZATION_ATTITUDE_PSI_FFDGAIN   0
#define	IERROR_SCALE   128
#define	GAIN_PRESCALER_FF   48
#define	GAIN_PRESCALER_P   12
#define	GAIN_PRESCALER_D   3
#define	GAIN_PRESCALER_I   3
#define	OFFSET_AND_ROUND(_a, _b)   (((_a)+(1<<((_b)-1)))>>(_b))
#define	OFFSET_AND_ROUND2(_a, _b)   (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
#define	INTEGRATOR_BOUND   100000

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)
static void	send_ahrs_ref_quat (struct transport_tx *trans, struct link_device *dev)
void	stabilization_attitude_quat_int_init (void)
void	stabilization_attitude_enter (void)
	Attitude control enter function.
static void	attitude_run_ff (int32_t ff_commands[], struct Int32AttitudeGains *gains, struct Int32Rates *ref_accel)
static void	attitude_run_fb (int32_t fb_commands[], struct Int32AttitudeGains *gains, struct Int32Quat *att_err, struct Int32Rates *rate_err, struct Int32Quat *sum_err)
void	stabilization_attitude_run (bool enable_integrator, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Attitude control run function.

Variables
struct Int32AttitudeGains	stabilization_gains
struct Int32Quat	stabilization_att_sum_err_quat
int32_t	stabilization_att_fb_cmd [COMMANDS_NB]
int32_t	stabilization_att_ff_cmd [COMMANDS_NB]
static struct Int32Quat	stab_att_sp_quat
static struct Int32Eulers	stab_att_sp_euler
struct AttRefQuatInt	att_ref_quat_i

Detailed Description

Rotorcraft quaternion attitude stabilization.

Definition in file stabilization_attitude_quat_int.c.

Macro Definition Documentation

GAIN_PRESCALER_D

#define GAIN_PRESCALER_D   3

Definition at line 82 of file stabilization_attitude_quat_int.c.

GAIN_PRESCALER_FF

#define GAIN_PRESCALER_FF   48

Definition at line 80 of file stabilization_attitude_quat_int.c.

GAIN_PRESCALER_I

#define GAIN_PRESCALER_I   3

Definition at line 83 of file stabilization_attitude_quat_int.c.

GAIN_PRESCALER_P

#define GAIN_PRESCALER_P   12

Definition at line 81 of file stabilization_attitude_quat_int.c.

IERROR_SCALE

#define IERROR_SCALE   128

Definition at line 79 of file stabilization_attitude_quat_int.c.

INTEGRATOR_BOUND

#define INTEGRATOR_BOUND   100000

OFFSET_AND_ROUND

#define OFFSET_AND_ROUND	(		_a,
			_b
	)		(((_a)+(1<<((_b)-1)))>>(_b))

Definition at line 167 of file stabilization_attitude_quat_int.c.

OFFSET_AND_ROUND2

#define OFFSET_AND_ROUND2	(		_a,
			_b
	)		(((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))

Definition at line 168 of file stabilization_attitude_quat_int.c.

STABILIZATION_ATTITUDE_PHI_FFDGAIN

#define STABILIZATION_ATTITUDE_PHI_FFDGAIN   0

explicitly define to zero to disable feed-forward rate term by default

Definition at line 39 of file stabilization_attitude_quat_int.c.

STABILIZATION_ATTITUDE_PSI_FFDGAIN

#define STABILIZATION_ATTITUDE_PSI_FFDGAIN   0

Definition at line 45 of file stabilization_attitude_quat_int.c.

STABILIZATION_ATTITUDE_THETA_FFDGAIN

#define STABILIZATION_ATTITUDE_THETA_FFDGAIN   0

Definition at line 42 of file stabilization_attitude_quat_int.c.

Function Documentation

attitude_run_fb()

static void attitude_run_fb ( int32_t  fb_commands[], struct Int32AttitudeGains *  gains, struct Int32Quat *  att_err, struct Int32Rates *  rate_err, struct Int32Quat *  sum_err  )

static

Definition at line 179 of file stabilization_attitude_quat_int.c.

References foo, GAIN_PRESCALER_D, GAIN_PRESCALER_I, GAIN_PRESCALER_P, gains, QUAT1_FLOAT_OF_BFP, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and RATE_FLOAT_OF_BFP.

Referenced by stabilization_attitude_run().

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attitude_run_ff()

static void attitude_run_ff ( int32_t  ff_commands[], struct Int32AttitudeGains *  gains, struct Int32Rates *  ref_accel  )

static

Definition at line 170 of file stabilization_attitude_quat_int.c.

References foo, GAIN_PRESCALER_FF, gains, and RATE_FLOAT_OF_BFP.

Referenced by stabilization_attitude_run().

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send_ahrs_ref_quat()

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

static

Definition at line 132 of file stabilization_attitude_quat_int.c.

References att_ref_quat_i, dev, foo, Int32Quat::qi, AttRefQuatInt::quat, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and stateGetNedToBodyQuat_i().

Referenced by stabilization_attitude_quat_int_init().

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send_att()

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

static

Definition at line 88 of file stabilization_attitude_quat_int.c.

References Stabilization::cmd, dev, foo, Int32Rates::p, Int32Eulers::phi, Int32Eulers::psi, Int32Rates::q, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Rates::r, stab_att_sp_euler, stabilization, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err_quat, stateGetBodyRates_i(), stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by stabilization_attitude_quat_int_init().

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send_att_ref()

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

static

Definition at line 112 of file stabilization_attitude_quat_int.c.

References AttRefQuatInt::accel, att_ref_quat_i, dev, AttRefQuatInt::euler, foo, INT32_ANGLE_FRAC, INT32_EULERS_LSHIFT, Int32Rates::p, Int32Eulers::phi, Int32Eulers::psi, Int32Rates::q, Int32Rates::r, AttRefQuatInt::rate, REF_ANGLE_FRAC, stab_att_sp_euler, and Int32Eulers::theta.

Referenced by stabilization_attitude_quat_int_init().

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stabilization_attitude_enter()

void stabilization_attitude_enter

(

void

)

Attitude control enter function.

Definition at line 159 of file stabilization_attitude_quat_int.c.

References att_ref_quat_i, attitude_ref_quat_int_enter(), foo, int32_quat_identity(), stabilization_att_sum_err_quat, and stateGetNedToBodyQuat_i().

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stabilization_attitude_quat_int_init()

void stabilization_attitude_quat_int_init

(

void

)

Definition at line 147 of file stabilization_attitude_quat_int.c.

References att_ref_quat_i, attitude_ref_quat_int_init(), DefaultPeriodic, foo, int32_quat_identity(), register_periodic_telemetry(), send_ahrs_ref_quat(), send_att(), send_att_ref(), and stabilization_att_sum_err_quat.

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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 200 of file stabilization_attitude_quat_int.c.

References AttRefEulerFloat::accel, AttRefQuatInt::accel, att_ref_euler_f, att_ref_quat_i, attitude_ref_euler_float_update(), attitude_ref_quat_int_update(), attitude_run_fb(), attitude_run_ff(), FloatAttitudeGains::d, FloatAttitudeGains::dd, AttRefEulerFloat::euler, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_COPY, EULERS_DIFF, FLOAT_ANGLE_NORMALIZE, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, foo, FloatAttitudeGains::i, IERROR_SCALE, int32_quat_identity(), int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), INT32_RATE_FRAC, INTEGRATOR_BOUND, MAX_PPRZ, MAX_SUM_ERR, OFFSET_AND_ROUND, FloatAttitudeGains::p, FloatRates::p, Int32Rates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, Int32Rates::q, AttRefQuatInt::quat, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, FloatRates::r, Int32Rates::r, AttRefEulerFloat::rate, AttRefQuatInt::rate, RATES_DIFF, REF_RATE_FRAC, stab_att_sp_euler, stab_att_sp_euler, stab_att_sp_quat, stab_sp_to_eulers_f(), stab_sp_to_eulers_i(), stab_sp_to_quat_i(), stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_att_sum_err_quat, stabilization_gains, stateGetBodyRates_f(), stateGetBodyRates_i(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_i(), th_sp_to_thrust_i(), FloatEulers::theta, THRUST_AXIS_Z, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_flip_run(), guidance_module_run(), stabilization_run(), and vertical_ctrl_module_run().

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Variable Documentation

att_ref_quat_i

struct AttRefQuatInt att_ref_quat_i

Definition at line 77 of file stabilization_attitude_quat_int.c.

Referenced by send_ahrs_ref_quat(), send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_quat_int_init(), and stabilization_attitude_run().

stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

static

Definition at line 75 of file stabilization_attitude_quat_int.c.

Referenced by send_att(), send_att_ref(), and stabilization_attitude_run().

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

static

Definition at line 74 of file stabilization_attitude_quat_int.c.

Referenced by stabilization_attitude_run().

stabilization_att_fb_cmd

int32_t stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 71 of file stabilization_attitude_quat_int.c.

Referenced by send_att(), and stabilization_attitude_run().

stabilization_att_ff_cmd

int32_t stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 72 of file stabilization_attitude_quat_int.c.

Referenced by send_att(), and stabilization_attitude_run().

stabilization_att_sum_err_quat

struct Int32Quat stabilization_att_sum_err_quat

Definition at line 69 of file stabilization_attitude_quat_int.c.

Referenced by send_att(), stabilization_attitude_enter(), stabilization_attitude_quat_int_init(), and stabilization_attitude_run().

stabilization_gains

struct Int32AttitudeGains stabilization_gains

Initial value:

= {
  {STABILIZATION_ATTITUDE_PHI_PGAIN, STABILIZATION_ATTITUDE_THETA_PGAIN, STABILIZATION_ATTITUDE_PSI_PGAIN },
  {STABILIZATION_ATTITUDE_PHI_DGAIN, STABILIZATION_ATTITUDE_THETA_DGAIN, STABILIZATION_ATTITUDE_PSI_DGAIN },
  {STABILIZATION_ATTITUDE_PHI_DDGAIN, STABILIZATION_ATTITUDE_THETA_DDGAIN, STABILIZATION_ATTITUDE_PSI_DDGAIN },
  {STABILIZATION_ATTITUDE_PHI_IGAIN, STABILIZATION_ATTITUDE_THETA_IGAIN, STABILIZATION_ATTITUDE_PSI_IGAIN },
  {STABILIZATION_ATTITUDE_PHI_FFDGAIN, STABILIZATION_ATTITUDE_THETA_FFDGAIN, STABILIZATION_ATTITUDE_PSI_FFDGAIN }
}

Definition at line 48 of file stabilization_attitude_quat_int.c.

Referenced by gain_scheduling_init(), gain_scheduling_periodic(), set_gainset(), and stabilization_attitude_run().