Rotorcraft attitude reference generation (euler int version) More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h"
#include "generated/airframe.h"

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Macros
#define	F_UPDATE_RES 9

#define	F_UPDATE (1<<F_UPDATE_RES)

#define	REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)

#define	REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)

#define	REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)

#define	REF_RATE_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)

#define	REF_RATE_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)

#define	REF_RATE_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)

#define	OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P

#define	ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P

#define	ZETA_OMEGA_P_RES 10

#define	ZETA_OMEGA_P BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)

#define	OMEGA_2_P_RES 7

#define	OMEGA_2_P BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)

#define	OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q

#define	ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q

#define	ZETA_OMEGA_Q_RES 10

#define	ZETA_OMEGA_Q BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)

#define	OMEGA_2_Q_RES 7

#define	OMEGA_2_Q BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)

#define	OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R

#define	ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R

#define	ZETA_OMEGA_R_RES 10

#define	ZETA_OMEGA_R BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)

#define	OMEGA_2_R_RES 7

#define	OMEGA_2_R BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)

#define	REF_ANGLE_PI BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

#define	REF_ANGLE_TWO_PI BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

#define	ANGLE_REF_NORMALIZE(_a)

Functions
void	attitude_ref_euler_int_init (struct AttRefEulerInt *ref)

void	attitude_ref_euler_int_update (struct AttRefEulerInt ref, struct Int32Eulers sp_euler)
	Propagate reference model. More...

Detailed Description

Rotorcraft attitude reference generation (euler int version)

Definition in file stabilization_attitude_ref_euler_int.c.

Macro Definition Documentation

◆ ANGLE_REF_NORMALIZE

#define ANGLE_REF_NORMALIZE ( _a )

Value:

    {                       \
    while (_a >  REF_ANGLE_PI)  _a -= REF_ANGLE_TWO_PI; \
    while (_a < -REF_ANGLE_PI)  _a += REF_ANGLE_TWO_PI; \
  }

Definition at line 66 of file stabilization_attitude_ref_euler_int.c.

◆ F_UPDATE

#define F_UPDATE (1<<F_UPDATE_RES)

Definition at line 32 of file stabilization_attitude_ref_euler_int.c.

◆ F_UPDATE_RES

#define F_UPDATE_RES 9

Definition at line 31 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_P

#define OMEGA_2_P BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)

Definition at line 47 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_P_RES

#define OMEGA_2_P_RES 7

Definition at line 46 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_Q

#define OMEGA_2_Q BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)

Definition at line 54 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_Q_RES

#define OMEGA_2_Q_RES 7

Definition at line 53 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_R

#define OMEGA_2_R BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)

Definition at line 61 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_2_R_RES

#define OMEGA_2_R_RES 7

Definition at line 60 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_P

#define OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P

Definition at line 42 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_Q

#define OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q

Definition at line 49 of file stabilization_attitude_ref_euler_int.c.

◆ OMEGA_R

#define OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R

Definition at line 56 of file stabilization_attitude_ref_euler_int.c.

◆ REF_ACCEL_MAX_P

#define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)

Definition at line 34 of file stabilization_attitude_ref_euler_int.c.

◆ REF_ACCEL_MAX_Q

#define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)

Definition at line 35 of file stabilization_attitude_ref_euler_int.c.

◆ REF_ACCEL_MAX_R

#define REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)

Definition at line 36 of file stabilization_attitude_ref_euler_int.c.

◆ REF_ANGLE_PI

#define REF_ANGLE_PI BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 64 of file stabilization_attitude_ref_euler_int.c.

◆ REF_ANGLE_TWO_PI

#define REF_ANGLE_TWO_PI BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 65 of file stabilization_attitude_ref_euler_int.c.

◆ REF_RATE_MAX_P

#define REF_RATE_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)

Definition at line 38 of file stabilization_attitude_ref_euler_int.c.

◆ REF_RATE_MAX_Q

#define REF_RATE_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)

Definition at line 39 of file stabilization_attitude_ref_euler_int.c.

◆ REF_RATE_MAX_R

#define REF_RATE_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)

Definition at line 40 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_P

#define ZETA_OMEGA_P BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)

Definition at line 45 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_P_RES

#define ZETA_OMEGA_P_RES 10

Definition at line 44 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_Q

#define ZETA_OMEGA_Q BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)

Definition at line 52 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_Q_RES

#define ZETA_OMEGA_Q_RES 10

Definition at line 51 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_R

#define ZETA_OMEGA_R BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)

Definition at line 59 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_OMEGA_R_RES

#define ZETA_OMEGA_R_RES 10

Definition at line 58 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_P

#define ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P

Definition at line 43 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_Q

#define ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q

Definition at line 50 of file stabilization_attitude_ref_euler_int.c.

◆ ZETA_R

#define ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R

Definition at line 57 of file stabilization_attitude_ref_euler_int.c.

Function Documentation

◆ attitude_ref_euler_int_init()

void attitude_ref_euler_int_init ( struct AttRefEulerInt * ref )

Definition at line 73 of file stabilization_attitude_ref_euler_int.c.

References INT_EULERS_ZERO, INT_RATES_ZERO, and ref.

Referenced by stabilization_attitude_euler_int_init().

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◆ attitude_ref_euler_int_update()

void attitude_ref_euler_int_update	(	struct AttRefEulerInt *	ref,
		struct Int32Eulers *	sp_euler
	)

Propagate reference model.

FIXME: has hardcoded timestep (512Hz via fixed F_UPDATE_RES)

Definition at line 84 of file stabilization_attitude_ref_euler_int.c.

References ANGLE_REF_NORMALIZE, EULERS_ADD, EULERS_DIFF, F_UPDATE_RES, INT32_ANGLE_FRAC, INT32_EULERS_LSHIFT, OMEGA_2_P, OMEGA_2_P_RES, OMEGA_2_Q, OMEGA_2_Q_RES, OMEGA_2_R, OMEGA_2_R_RES, Int32Eulers::phi, Int32Eulers::psi, RATES_ADD, RATES_BOUND_BOX, RATES_SUM, ref, REF_ACCEL_FRAC, REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R, REF_ANGLE_FRAC, REF_RATE_FRAC, Int32Eulers::theta, ZETA_OMEGA_P, ZETA_OMEGA_P_RES, ZETA_OMEGA_Q, ZETA_OMEGA_Q_RES, ZETA_OMEGA_R, and ZETA_OMEGA_R_RES.

Referenced by stabilization_attitude_run().