30 #ifndef STABILIZATION_ATTITUDE_REF_QUAT_INT_H
31 #define STABILIZATION_ATTITUDE_REF_QUAT_INT_H
Naive attitude reference saturation.
Paparazzi floating point algebra.
Rotorcraft attitude reference generation API.
static const float omega_r[]
static const float zeta_r[]
static const float omega_q[]
static const float omega_p[]
static const float zeta_q[]
static const float zeta_p[]
struct Int32RefSat saturation
void attitude_ref_quat_int_update(struct AttRefQuatInt *ref, struct Int32Quat *sp_quat, float dt)
Propagate reference.
void attitude_ref_quat_int_enter(struct AttRefQuatInt *ref, struct Int32Quat *state_quat)
void attitude_ref_quat_int_set_max_rdot(struct AttRefQuatInt *ref, float max_rdot)
void attitude_ref_quat_int_set_zeta_r(struct AttRefQuatInt *ref, float zeta_r)
void attitude_ref_quat_int_init(struct AttRefQuatInt *ref)
void attitude_ref_quat_int_set_max_r(struct AttRefQuatInt *ref, float max_r)
struct Int32Rates rate
with REF_RATE_FRAC
void attitude_ref_quat_int_set_omega_r(struct AttRefQuatInt *ref, float omega_r)
struct Int32Eulers euler
with INT32_ANGLE_FRAC
void attitude_ref_quat_int_set_zeta(struct AttRefQuatInt *ref, struct FloatRates *zeta)
void attitude_ref_quat_int_set_zeta_q(struct AttRefQuatInt *ref, float zeta_q)
void attitude_ref_quat_int_set_omega(struct AttRefQuatInt *ref, struct FloatRates *omega)
void attitude_ref_quat_int_set_max_qdot(struct AttRefQuatInt *ref, float max_qdot)
void attitude_ref_quat_int_set_omega_q(struct AttRefQuatInt *ref, float omega_q)
void attitude_ref_quat_int_set_omega_p(struct AttRefQuatInt *ref, float omega_p)
struct Int32Rates accel
with REF_ACCEL_FRAC
void attitude_ref_quat_int_set_max_pdot(struct AttRefQuatInt *ref, float max_pdot)
void attitude_ref_quat_int_set_zeta_p(struct AttRefQuatInt *ref, float zeta_p)
struct Int32Rates two_omega2
void attitude_ref_quat_int_set_max_q(struct AttRefQuatInt *ref, float max_q)
struct Int32Rates two_zeta_omega
void attitude_ref_quat_int_set_max_p(struct AttRefQuatInt *ref, float max_p)
Attitude reference models and state/output (quat int)
Attitude reference model parameters (quat int)