Paparazzi UAS  v5.15_devel-113-g1b57ff1
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
stabilization_attitude_quat_int.h
Go to the documentation of this file.
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
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
22 #ifndef STABILIZATION_ATTITUDE_QUAT_INT_H
23 #define STABILIZATION_ATTITUDE_QUAT_INT_H
24 
27 
28 #include "math/pprz_algebra_int.h"
29 
30 extern struct Int32Quat stab_att_sp_quat;
31 extern struct Int32Eulers stab_att_sp_euler;
32 
33 extern struct AttRefQuatInt att_ref_quat_i;
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 */
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
struct AttRefQuatInt att_ref_quat_i
Common data structures shared by euler and quaternion int implementations.
euler angles
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
Attitude reference models and state/output (quat int)
Rotorcraft attitude reference generation.
Rotation quaternion.
Paparazzi fixed point algebra.