Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_attitude_ref_quat_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
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;
46  struct FloatRates two_omega2;
47 };
48 
51  struct FloatEulers euler;
52  struct FloatQuat quat;
53  struct FloatRates rate;
54  struct FloatRates accel;
57  struct FloatRefSat saturation;
58 };
59 
60 
62 extern void attitude_ref_quat_float_enter(struct AttRefQuatFloat *ref, struct FloatQuat *state_quat);
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 */
Naive attitude reference saturation.
euler angles
Roation quaternion.
angular rates
static uint32_t idx
Paparazzi floating point algebra.
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)
uint16_t ref[TCOUPLE_NB]
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98