28 #include "generated/airframe.h"
31 #define F_UPDATE_RES 9
32 #define F_UPDATE (1<<F_UPDATE_RES)
34 #define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
35 #define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
36 #define REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)
38 #define REF_RATE_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)
39 #define REF_RATE_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)
40 #define REF_RATE_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)
42 #define OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P
43 #define ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P
44 #define ZETA_OMEGA_P_RES 10
45 #define ZETA_OMEGA_P BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)
46 #define OMEGA_2_P_RES 7
47 #define OMEGA_2_P BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)
49 #define OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q
50 #define ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q
51 #define ZETA_OMEGA_Q_RES 10
52 #define ZETA_OMEGA_Q BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)
53 #define OMEGA_2_Q_RES 7
54 #define OMEGA_2_Q BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)
56 #define OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R
57 #define ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R
58 #define ZETA_OMEGA_R_RES 10
59 #define ZETA_OMEGA_R BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)
60 #define OMEGA_2_R_RES 7
61 #define OMEGA_2_R BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
64 #define REF_ANGLE_PI BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
65 #define REF_ANGLE_TWO_PI BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
66 #define ANGLE_REF_NORMALIZE(_a) { \
67 while (_a > REF_ANGLE_PI) _a -= REF_ANGLE_TWO_PI; \
68 while (_a < -REF_ANGLE_PI) _a += REF_ANGLE_TWO_PI; \
#define RATES_BOUND_BOX(_v, _v_min, _v_max)
#define EULERS_DIFF(_c, _a, _b)
#define EULERS_ADD(_a, _b)
#define RATES_SUM(_c, _a, _b)
#define RATES_ADD(_a, _b)
int32_t phi
in rad with INT32_ANGLE_FRAC
int32_t psi
in rad with INT32_ANGLE_FRAC
int32_t theta
in rad with INT32_ANGLE_FRAC
#define INT_RATES_ZERO(_e)
#define INT32_EULERS_LSHIFT(_o, _i, _r)
#define INT_EULERS_ZERO(_e)
void attitude_ref_euler_int_update(struct AttRefEulerInt *ref, struct Int32Eulers *sp_euler)
Propagate reference model.
void attitude_ref_euler_int_init(struct AttRefEulerInt *ref)
#define ANGLE_REF_NORMALIZE(_a)
Rotorcraft attitude reference generation (euler int version)
Attitude reference models and state/output (euler int)
int int32_t
Typedef defining 32 bit int type.