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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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Go to the source code of this file.

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, float psi)
 
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.


Data Structure Documentation

struct FloatRefModel

Attitude reference model parameters (float)

Definition at line 29 of file stabilization_attitude_ref_euler_float.h.

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

Attitude reference models and state/output (float)

Definition at line 50 of file stabilization_attitude_ref_quat_float.h.

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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

#define STABILIZATION_ATTITUDE_GAIN_NB   1

Definition at line 38 of file stabilization_attitude_ref_quat_float.h.

Function Documentation

void attitude_ref_quat_float_enter ( struct AttRefQuatFloat ref,
float  psi 
)

Definition at line 80 of file stabilization_attitude_ref_quat_float.c.

References reset_psi_ref().

Referenced by stabilization_attitude_enter().

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

Definition at line 156 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::p, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_p().

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

Definition at line 162 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::q, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_q().

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

Definition at line 168 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::r, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_r().

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void attitude_ref_quat_float_schedule ( struct AttRefQuatFloat ref,
uint8_t  idx 
)

Definition at line 193 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::cur_idx, and idx.

Referenced by stabilization_attitude_gain_schedule(), and stabilization_attitude_init().

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void attitude_ref_quat_float_set_omega_p ( struct AttRefQuatFloat ref,
float  omega 
)

Definition at line 174 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_p(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_q ( struct AttRefQuatFloat ref,
float  omega 
)

Definition at line 179 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_q(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_r ( struct AttRefQuatFloat ref,
float  omega 
)

Definition at line 184 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_r(), and AttRefQuatFloat::cur_idx.

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