Read an attitude setpoint from the RC. More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "generated/airframe.h"
#include "modules/radio_control/radio_control.h"
#include "state.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	STABILIZATION_ATTITUDE_DEADBAND_A 0

#define	STABILIZATION_ATTITUDE_DEADBAND_E 0

#define	COORDINATED_TURN_AIRSPEED 12.0
	Airspeed that will be used in the turning speed calculation (m/s). More...

#define	YAW_DEADBAND_EXCEEDED(_rc)

Functions
static int32_t	get_rc_roll (struct RadioControl *rc)

static int32_t	get_rc_pitch (struct RadioControl *rc)

static int32_t	get_rc_yaw (struct RadioControl *rc)

static float	get_rc_roll_f (struct RadioControl *rc)

static float	get_rc_pitch_f (struct RadioControl *rc)

static float	get_rc_yaw_f (struct RadioControl *rc)

void	stabilization_attitude_rc_setpoint_init (struct AttitudeRCInput *rc_sp)
	Init rc input. More...

void	stabilization_attitude_read_rc_setpoint (struct AttitudeRCInput rc_sp, bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl rc)
	Read attitude setpoint from RC as quaternion Interprets the stick positions as axes. More...

void	stabilization_attitude_read_rc_setpoint_earth_bound (struct AttitudeRCInput rc_sp, bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl rc)
	Read attitude setpoint from RC as quaternion in earth bound frame. More...

void	stabilization_attitude_reset_rc_setpoint (struct AttitudeRCInput *rc_sp)
	reset to current state More...

void	stabilization_attitude_reset_care_free_heading (struct AttitudeRCInput *rc_sp)
	reset the heading for care-free mode to current heading More...

int32_t	stabilization_attitude_get_heading_i (void)
	Get attitude heading as int (avoiding jumps) More...

float	stabilization_attitude_get_heading_f (void)
	Get attitude heading as float (avoiding jumps) More...

struct Int32Eulers	stabilization_attitude_read_rc_setpoint_eulers (struct AttitudeRCInput rc_sp, bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl rc)
	Read attitude setpoint from RC as euler angles Only the euler format is updated and returned. More...

struct FloatEulers	stabilization_attitude_read_rc_setpoint_eulers_f (struct AttitudeRCInput rc_sp, bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl rc)
	Read attitude setpoint from RC as float euler angles Only the euler format is updated and returned. More...

void	stabilization_attitude_read_rc_roll_pitch_quat_f (struct FloatQuat q, struct RadioControl rc)
	Read roll/pitch command from RC as quaternion. More...

void	stabilization_attitude_read_rc_roll_pitch_earth_quat_f (struct FloatQuat q, float theta_offset, struct RadioControl rc)
	Read roll/pitch command from RC as quaternion. More...

Detailed Description

Read an attitude setpoint from the RC.

Definition in file stabilization_attitude_rc_setpoint.c.

Macro Definition Documentation

◆ COORDINATED_TURN_AIRSPEED

#define COORDINATED_TURN_AIRSPEED 12.0

Airspeed that will be used in the turning speed calculation (m/s).

This variable is for calculation of the turn speed, and does not influence the airspeed. With a higher speed, the vehicle will turn less in a turn with the same roll.

Definition at line 50 of file stabilization_attitude_rc_setpoint.c.

◆ STABILIZATION_ATTITUDE_DEADBAND_A

#define STABILIZATION_ATTITUDE_DEADBAND_A 0

Definition at line 36 of file stabilization_attitude_rc_setpoint.c.

◆ STABILIZATION_ATTITUDE_DEADBAND_E

#define STABILIZATION_ATTITUDE_DEADBAND_E 0

Definition at line 40 of file stabilization_attitude_rc_setpoint.c.

◆ YAW_DEADBAND_EXCEEDED

#define YAW_DEADBAND_EXCEEDED ( _rc )

Value:

(rc->values[RADIO_YAW] > STABILIZATION_ATTITUDE_DEADBAND_R || \

rc->values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R)

RADIO_YAW

#define RADIO_YAW

Definition: rc_datalink.h:40

Definition at line 53 of file stabilization_attitude_rc_setpoint.c.

Function Documentation

◆ get_rc_pitch()

static int32_t get_rc_pitch ( struct RadioControl * rc )

static

Definition at line 65 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, RADIO_PITCH, STABILIZATION_ATTITUDE_DEADBAND_E, and RadioControl::values.

◆ get_rc_pitch_f()

static float get_rc_pitch_f ( struct RadioControl * rc )

static

Definition at line 88 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, RADIO_PITCH, STABILIZATION_ATTITUDE_DEADBAND_E, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), and stabilization_attitude_read_rc_roll_pitch_quat_f().

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◆ get_rc_roll()

static int32_t get_rc_roll ( struct RadioControl * rc )

static

Definition at line 57 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, RADIO_ROLL, STABILIZATION_ATTITUDE_DEADBAND_A, and RadioControl::values.

◆ get_rc_roll_f()

static float get_rc_roll_f ( struct RadioControl * rc )

static

Definition at line 81 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, RADIO_ROLL, STABILIZATION_ATTITUDE_DEADBAND_A, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), and stabilization_attitude_read_rc_roll_pitch_quat_f().

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◆ get_rc_yaw()

static int32_t get_rc_yaw ( struct RadioControl * rc )

static

Definition at line 73 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, RADIO_YAW, and RadioControl::values.

◆ get_rc_yaw_f()

static float get_rc_yaw_f ( struct RadioControl * rc )

inlinestatic

Definition at line 95 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, RADIO_YAW, and RadioControl::values.

◆ stabilization_attitude_get_heading_f()

float stabilization_attitude_get_heading_f ( void )

Get attitude heading as float (avoiding jumps)

Definition at line 231 of file stabilization_attitude_rc_setpoint.c.

References heading, FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stabilization_attitude_enter().

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◆ stabilization_attitude_get_heading_i()

int32_t stabilization_attitude_get_heading_i ( void )

Get attitude heading as int (avoiding jumps)

Definition at line 215 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, heading, INT32_ANGLE_PI_2, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_SIN, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by guidance_flip_enter(), and stabilization_indi_enter().

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◆ stabilization_attitude_rc_setpoint_init()

void stabilization_attitude_rc_setpoint_init ( struct AttitudeRCInput * rc_sp )

Init rc input.

Parameters

[out] rc_sp pointer to rc input structure

Definition at line 102 of file stabilization_attitude_rc_setpoint.c.

References AttitudeRCInput::care_free_heading, FLOAT_EULERS_ZERO, float_quat_identity(), AttitudeRCInput::last_ts, AttitudeRCInput::rc_eulers, AttitudeRCInput::rc_quat, and AttitudeRCInput::transition_theta_offset.

Referenced by ctrl_module_init(), and stabilization_init().

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◆ stabilization_attitude_read_rc_roll_pitch_earth_quat_f()

void stabilization_attitude_read_rc_roll_pitch_earth_quat_f	(	struct FloatQuat *	q,
		float	theta_offset,
		struct RadioControl *	rc
	)

Read roll/pitch command from RC as quaternion.

Read RC roll and pitch only, in earth bounded frame.

Both angles are are interpreted relative to to the horizontal plane (earth bound).

Parameters

[out]	q	quaternion representing the RC roll/pitch input
[in]	theta_offset	pitch offset for forward flight
[in]	rc	pointer to radio control structure

Definition at line 441 of file stabilization_attitude_rc_setpoint.c.

References get_rc_pitch_f(), get_rc_roll_f(), FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.

Referenced by stabilization_attitude_read_rc_setpoint_earth_bound().

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◆ stabilization_attitude_read_rc_roll_pitch_quat_f()

void stabilization_attitude_read_rc_roll_pitch_quat_f	(	struct FloatQuat *	q,
		struct RadioControl *	rc
	)

Read roll/pitch command from RC as quaternion.

Read RC roll and pitch only.

Interprets the stick positions as axes.

Parameters

[out]	q	quaternion representing the RC roll/pitch input
[in]	rc	pointer to radio control structure

Definition at line 423 of file stabilization_attitude_rc_setpoint.c.

References float_quat_of_orientation_vect(), get_rc_pitch_f(), get_rc_roll_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_attitude_read_rc_setpoint().

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◆ stabilization_attitude_read_rc_setpoint()

void stabilization_attitude_read_rc_setpoint	(	struct AttitudeRCInput *	rc_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Read attitude setpoint from RC as quaternion Interprets the stick positions as axes.

Parameters

[out]	rc_sp	pointer to rc input structure
[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure

Definition at line 119 of file stabilization_attitude_rc_setpoint.c.

References AttitudeRCInput::care_free_heading, float_quat_comp(), float_quat_comp_inv(), float_quat_comp_norm_shortest(), float_quat_normalize(), float_quat_of_axis_angle(), FloatEulers::psi, QUAT_COPY, AttitudeRCInput::rc_eulers, AttitudeRCInput::rc_quat, stabilization_attitude_read_rc_roll_pitch_quat_f(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stateGetNedToBodyEulers_f().

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◆ stabilization_attitude_read_rc_setpoint_earth_bound()

void stabilization_attitude_read_rc_setpoint_earth_bound	(	struct AttitudeRCInput *	rc_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Read attitude setpoint from RC as quaternion in earth bound frame.

Read attitude setpoint from RC as quaternion in earth bound frame Interprets the stick positions as axes.

Parameters

[out]	rc_sp	pointer to rc input structure
[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure

Definition at line 169 of file stabilization_attitude_rc_setpoint.c.

References float_quat_comp(), float_quat_normalize(), float_quat_of_axis_angle(), FloatEulers::psi, QUAT_COPY, AttitudeRCInput::rc_eulers, AttitudeRCInput::rc_quat, stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_setpoint_eulers_f(), stateGetNedToBodyEulers_f(), and AttitudeRCInput::transition_theta_offset.

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◆ stabilization_attitude_read_rc_setpoint_eulers()

struct Int32Eulers stabilization_attitude_read_rc_setpoint_eulers	(	struct AttitudeRCInput *	rc_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Read attitude setpoint from RC as euler angles Only the euler format is updated and returned.

Parameters

[out]	rc_sp	pointer to rc input structure
[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure

Returns: attitude setpoint in eulers (int)

Definition at line 231 of file stabilization_attitude_rc_setpoint.c.

Referenced by guidance_module_enter().

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◆ stabilization_attitude_read_rc_setpoint_eulers_f()

struct FloatEulers stabilization_attitude_read_rc_setpoint_eulers_f	(	struct AttitudeRCInput *	rc_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Read attitude setpoint from RC as float euler angles Only the euler format is updated and returned.

Parameters

[out]	rc_sp	pointer to rc input structure
[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure