Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_attitude_quat_int.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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14  * GNU General Public License for more details.
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21 
22 #ifndef STABILIZATION_ATTITUDE_QUAT_INT_H
23 #define STABILIZATION_ATTITUDE_QUAT_INT_H
24 
28 
29 #include "math/pprz_algebra_int.h"
30 
31 extern struct AttRefQuatInt att_ref_quat_i;
32 
33 extern void stabilization_attitude_quat_int_init(void);
34 
35 /* settings handlers for ref model params */
36 #define stabilization_attitude_quat_int_SetOmegaP(_val) { \
37  attitude_ref_quat_int_set_omega_p(&att_ref_quat_i, _val); \
38  }
39 #define stabilization_attitude_quat_int_SetOmegaQ(_val) { \
40  attitude_ref_quat_int_set_omega_q(&att_ref_quat_i, _val); \
41  }
42 #define stabilization_attitude_quat_int_SetOmegaR(_val) { \
43  attitude_ref_quat_int_set_omega_r(&att_ref_quat_i, _val); \
44  }
45 
46 #define stabilization_attitude_quat_int_SetZetaP(_val) { \
47  attitude_ref_quat_int_set_zeta_p(&att_ref_quat_i, _val); \
48  }
49 #define stabilization_attitude_quat_int_SetZetaQ(_val) { \
50  attitude_ref_quat_int_set_zeta_q(&att_ref_quat_i, _val); \
51  }
52 #define stabilization_attitude_quat_int_SetZetaR(_val) { \
53  attitude_ref_quat_int_set_zeta_r(&att_ref_quat_i, _val); \
54  }
55 
56 #endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */
Paparazzi fixed point algebra.
General attitude stabilization interface for rotorcrafts.
Common data structures shared by euler and quaternion int implementations.
void stabilization_attitude_quat_int_init(void)
struct AttRefQuatInt att_ref_quat_i
Rotorcraft attitude reference generation.
Attitude reference models and state/output (quat int)