Paparazzi UAS  v5.15_devel-105-g9de12e2
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_ref_euler_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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21 
22 #ifndef STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
23 #define STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
24 
27 
29 struct FloatRefModel {
30  struct FloatRates omega;
31  struct FloatRates zeta;
32 };
33 
37  struct FloatRates rate;
38  struct FloatRates accel;
41 };
42 
44 extern void attitude_ref_euler_float_enter(struct AttRefEulerFloat *ref, float psi);
45 extern void attitude_ref_euler_float_update(struct AttRefEulerFloat *ref, struct FloatEulers *sp_eulers, float dt);
46 
47 #endif /* STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H */
euler angles
uint16_t ref[TCOUPLE_NB]
Paparazzi floating point algebra.
Attitude reference state/output (euler float)
void attitude_ref_euler_float_enter(struct AttRefEulerFloat *ref, float psi)
Naive attitude reference saturation.
Attitude reference model parameters (float)
void attitude_ref_euler_float_update(struct AttRefEulerFloat *ref, struct FloatEulers *sp_eulers, float dt)
void attitude_ref_euler_float_init(struct AttRefEulerFloat *ref)
angular rates