Paparazzi UAS  v5.15_devel-81-gd13dafb
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stabilization_attitude_ref_quat_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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4  * This file is part of paparazzi.
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21 
30 #ifndef STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
31 #define STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
32 
33 #include "generated/airframe.h"
36 
37 #ifndef STABILIZATION_ATTITUDE_GAIN_NB
38 #define STABILIZATION_ATTITUDE_GAIN_NB 1
39 #endif
40 
42 struct FloatRefModel {
43  struct FloatRates omega;
44  struct FloatRates zeta;
47 };
48 
52  struct FloatQuat quat;
53  struct FloatRates rate;
54  struct FloatRates accel;
58 };
59 
60 
62 extern void attitude_ref_quat_float_enter(struct AttRefQuatFloat *ref, float psi);
63 extern void attitude_ref_quat_float_update(struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt);
64 
65 
67 
68 extern void attitude_ref_quat_float_idx_set_omega_p(struct AttRefQuatFloat *ref, uint8_t idx, float omega);
69 extern void attitude_ref_quat_float_idx_set_omega_q(struct AttRefQuatFloat *ref, uint8_t idx, float omega);
70 extern void attitude_ref_quat_float_idx_set_omega_r(struct AttRefQuatFloat *ref, uint8_t idx, float omega);
71 extern void attitude_ref_quat_float_set_omega_p(struct AttRefQuatFloat *ref, float omega);
72 extern void attitude_ref_quat_float_set_omega_q(struct AttRefQuatFloat *ref, float omega);
73 extern void attitude_ref_quat_float_set_omega_r(struct AttRefQuatFloat *ref, float omega);
74 
75 
76 #endif /* STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H */
Attitude reference models and state/output (float)
void attitude_ref_quat_float_idx_set_omega_q(struct AttRefQuatFloat *ref, uint8_t idx, float omega)
struct FloatRefModel model[STABILIZATION_ATTITUDE_GAIN_NB]
static uint32_t idx
void attitude_ref_quat_float_update(struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void attitude_ref_quat_float_set_omega_q(struct AttRefQuatFloat *ref, float omega)
struct FloatRates two_omega2
cached value of 2*omega*omega
euler angles
Roation quaternion.
uint16_t ref[TCOUPLE_NB]
void attitude_ref_quat_float_set_omega_r(struct AttRefQuatFloat *ref, float omega)
Paparazzi floating point algebra.
Naive attitude reference saturation.
void attitude_ref_quat_float_init(struct AttRefQuatFloat *ref)
void attitude_ref_quat_float_set_omega_p(struct AttRefQuatFloat *ref, float omega)
void attitude_ref_quat_float_idx_set_omega_r(struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void attitude_ref_quat_float_enter(struct AttRefQuatFloat *ref, float psi)
unsigned char uint8_t
Definition: types.h:14
Attitude reference model parameters (float)
void attitude_ref_quat_float_idx_set_omega_p(struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void attitude_ref_quat_float_schedule(struct AttRefQuatFloat *ref, uint8_t idx)
#define STABILIZATION_ATTITUDE_GAIN_NB
angular rates