Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Rotorcraft attitude reference generation (euler int version) More...
#include "stabilization_attitude_ref_int.h"
Go to the source code of this file.
Data Structures | |
struct | AttRefEulerInt |
Attitude reference models and state/output (euler int) More... | |
Functions | |
void | attitude_ref_euler_int_init (struct AttRefEulerInt *ref) |
void | attitude_ref_euler_int_enter (struct AttRefEulerInt *ref, int32_t psi) |
void | attitude_ref_euler_int_update (struct AttRefEulerInt *ref, struct Int32Eulers *sp_euler) |
Propagate reference model. More... | |
Rotorcraft attitude reference generation (euler int version)
Definition in file stabilization_attitude_ref_euler_int.h.
struct AttRefEulerInt |
Attitude reference models and state/output (euler int)
Definition at line 33 of file stabilization_attitude_ref_euler_int.h.
Data Fields | ||
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struct Int32Rates | accel | with REF_ACCEL_FRAC |
struct Int32Eulers | euler | with REF_ANGLE_FRAC |
struct Int32Rates | rate | with REF_RATE_FRAC |
void attitude_ref_euler_int_enter | ( | struct AttRefEulerInt * | ref, |
int32_t | psi | ||
) |
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().
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().