stabilization_attitude_ref_quat_float.h File Reference

Rotorcraft attitude reference generation. More...

#include "generated/airframe.h"
#include "math/pprz_algebra_float.h"
#include "attitude_ref_saturate_naive.h"

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Data Structures
struct	FloatRefModel
	Attitude reference model parameters (float) More...
struct	AttRefQuatFloat
	Attitude reference models and state/output (float) More...

Macros
#define	STABILIZATION_ATTITUDE_GAIN_NB   1

Functions
void	attitude_ref_quat_float_init (struct AttRefQuatFloat *ref)
void	attitude_ref_quat_float_enter (struct AttRefQuatFloat *ref, struct FloatQuat *state_quat)
void	attitude_ref_quat_float_update (struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void	attitude_ref_quat_float_schedule (struct AttRefQuatFloat *ref, uint8_t idx)
void	attitude_ref_quat_float_idx_set_omega_p (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_q (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_r (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_set_omega_p (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_q (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_r (struct AttRefQuatFloat *ref, float omega)

Detailed Description

Rotorcraft attitude reference generation.

(quaternion float version)

Definition in file stabilization_attitude_ref_quat_float.h.

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Data Structure Documentation

FloatRefModel

struct FloatRefModel

Attitude reference model parameters (float)

Definition at line 29 of file stabilization_attitude_ref_euler_float.h.

Collaboration diagram for FloatRefModel:

Data Fields
struct FloatRates	omega
struct FloatRates	two_omega2	cached value of 2*omega*omega
struct FloatRates	zeta

AttRefQuatFloat

struct AttRefQuatFloat

Attitude reference models and state/output (float)

Definition at line 50 of file stabilization_attitude_ref_quat_float.h.

Collaboration diagram for AttRefQuatFloat:

Data Fields
struct FloatRates	accel
uint8_t	cur_idx
struct FloatEulers	euler
struct FloatRefModel	model[STABILIZATION_ATTITUDE_GAIN_NB]
struct FloatQuat	quat
struct FloatRates	rate
struct FloatRefSat	saturation

Macro Definition Documentation

STABILIZATION_ATTITUDE_GAIN_NB

#define STABILIZATION_ATTITUDE_GAIN_NB   1

Definition at line 38 of file stabilization_attitude_ref_quat_float.h.

Function Documentation

attitude_ref_quat_float_enter()

void attitude_ref_quat_float_enter	(	struct AttRefQuatFloat *	ref,
		struct FloatQuat *	state_quat
	)

Definition at line 78 of file stabilization_attitude_ref_quat_float.c.

References FLOAT_RATES_ZERO, QUAT_COPY, and ref.

Referenced by stabilization_attitude_enter().

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attitude_ref_quat_float_idx_set_omega_p()

void attitude_ref_quat_float_idx_set_omega_p	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 140 of file stabilization_attitude_ref_quat_float.c.

References idx, and ref.

Referenced by attitude_ref_quat_float_set_omega_p().

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attitude_ref_quat_float_idx_set_omega_q()

void attitude_ref_quat_float_idx_set_omega_q	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 146 of file stabilization_attitude_ref_quat_float.c.

References idx, and ref.

Referenced by attitude_ref_quat_float_set_omega_q().

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attitude_ref_quat_float_idx_set_omega_r()

void attitude_ref_quat_float_idx_set_omega_r	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 152 of file stabilization_attitude_ref_quat_float.c.

References idx, and ref.

Referenced by attitude_ref_quat_float_set_omega_r().

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attitude_ref_quat_float_init()

void attitude_ref_quat_float_init

(

struct AttRefQuatFloat *

ref

)

Definition at line 55 of file stabilization_attitude_ref_quat_float.c.

References FLOAT_EULERS_ZERO, float_quat_identity(), FLOAT_RATES_ZERO, omega_p, omega_q, omega_r, RATES_ASSIGN, ref, STABILIZATION_ATTITUDE_GAIN_NB, STABILIZATION_ATTITUDE_REF_MAX_P, STABILIZATION_ATTITUDE_REF_MAX_PDOT, STABILIZATION_ATTITUDE_REF_MAX_Q, STABILIZATION_ATTITUDE_REF_MAX_QDOT, STABILIZATION_ATTITUDE_REF_MAX_R, STABILIZATION_ATTITUDE_REF_MAX_RDOT, zeta_p, zeta_q, and zeta_r.

Referenced by stabilization_attitude_quat_float_init().

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attitude_ref_quat_float_schedule()

void attitude_ref_quat_float_schedule	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx
	)

Definition at line 177 of file stabilization_attitude_ref_quat_float.c.

References idx, and ref.

Referenced by stabilization_attitude_gain_schedule(), and stabilization_attitude_quat_float_init().

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attitude_ref_quat_float_set_omega_p()

void attitude_ref_quat_float_set_omega_p	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 158 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_p(), and ref.

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attitude_ref_quat_float_set_omega_q()

void attitude_ref_quat_float_set_omega_q	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 163 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_q(), and ref.

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attitude_ref_quat_float_set_omega_r()

void attitude_ref_quat_float_set_omega_r	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 168 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_r(), and ref.

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attitude_ref_quat_float_update()

void attitude_ref_quat_float_update	(	struct AttRefQuatFloat *	ref,
		struct FloatQuat *	sp_quat,
		float	dt
	)

Definition at line 88 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_float_saturate_naive(), float_eulers_of_quat(), float_quat_comp(), float_quat_derivative(), float_quat_differential(), float_quat_inv_comp(), float_quat_normalize(), float_quat_wrap_shortest(), QUAT_ADD, QUAT_COPY, QUAT_SMUL, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, RATES_ADD, RATES_SMUL, and ref.

Referenced by stabilization_attitude_run().

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