30 #ifndef STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
31 #define STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
33 #include "generated/airframe.h"
37 #ifndef STABILIZATION_ATTITUDE_GAIN_NB
38 #define STABILIZATION_ATTITUDE_GAIN_NB 1
Naive attitude reference saturation.
Paparazzi floating point algebra.
struct FloatRefSat saturation
void attitude_ref_quat_float_set_omega_q(struct AttRefQuatFloat *ref, float omega)
#define STABILIZATION_ATTITUDE_GAIN_NB
void attitude_ref_quat_float_update(struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void attitude_ref_quat_float_idx_set_omega_p(struct AttRefQuatFloat *ref, uint8_t idx, float omega)
struct FloatRates two_omega2
cached value of 2*omega*omega
void attitude_ref_quat_float_enter(struct AttRefQuatFloat *ref, struct FloatQuat *state_quat)
void attitude_ref_quat_float_set_omega_r(struct AttRefQuatFloat *ref, float omega)
struct FloatRefModel model[STABILIZATION_ATTITUDE_GAIN_NB]
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_init(struct AttRefQuatFloat *ref)
void attitude_ref_quat_float_schedule(struct AttRefQuatFloat *ref, uint8_t idx)
Attitude reference models and state/output (float)
Attitude reference model parameters (float)
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.