stabilization_indi.h File Reference

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
#include "math/wls/wls_alloc.h"

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Data Structures
struct	Indi_gains

Macros
#define	INDI_G_SCALING   1000.0

Functions
void	stabilization_indi_init (void)
	Function that initializes important values upon engaging INDI. More...
void	stabilization_indi_enter (void)
	Function that resets important values upon engaging INDI. More...
void	stabilization_indi_rate_run (bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Does the INDI calculations. More...
void	stabilization_indi_attitude_run (bool in_flight, struct StabilizationSetpoint *att_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	runs stabilization indi More...
void	stabilization_indi_set_wls_settings (void)
	Function that sets the u_min, u_max and u_pref if function not elsewhere defined. More...
void	stabilization_indi_update_filt_freq (float freq)

Variables
float	g1g2 [INDI_OUTPUTS][INDI_NUM_ACT]
float	actuator_state_filt_vect [INDI_NUM_ACT]
bool	act_is_servo [INDI_NUM_ACT]
bool	indi_use_adaptive
float *	Bwls [INDI_OUTPUTS]
float	thrust_bx_eff
float	thrust_bx_act_dyn
float	actuator_thrust_bx_pprz
float	thrust_bx_state_filt
float	act_pref [INDI_NUM_ACT]
float	stablization_indi_yaw_dist_limit
	Limit the maximum specific moment that can be compensated (units rad/s^2) More...
struct Indi_gains	indi_gains
float	stabilization_indi_filter_freq
struct WLS_t	wls_stab_p

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Data Structure Documentation

Indi_gains

struct Indi_gains

Definition at line 49 of file stabilization_indi.h.

Collaboration diagram for Indi_gains:

Data Fields
struct FloatRates	att
struct FloatRates	rate

Macro Definition Documentation

INDI_G_SCALING

#define INDI_G_SCALING   1000.0

Definition at line 32 of file stabilization_indi.h.

Function Documentation

stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	bool	in_flight,
		struct StabilizationSetpoint *	att_sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

runs stabilization indi

Parameters

	in_flight	enable integrator only in flight
	att_sp	attitude stabilization setpoint
	thrust	thrust setpoint
[out]	output	command vector

Function that should be called to run the INDI controller

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 765 of file stabilization_indi.c.

stabilization_indi_enter()

void stabilization_indi_enter

(

void

)

Function that resets important values upon engaging INDI.

Don't reset inputs and filters, because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying. FIXME: Ideally we should detect when coming from something that is not INDI

Definition at line 445 of file stabilization_indi.c.

stabilization_indi_init()

void stabilization_indi_init

(

void

)

Function that initializes important values upon engaging INDI.

Definition at line 369 of file stabilization_indi.c.

stabilization_indi_rate_run()

void stabilization_indi_rate_run	(	bool	in_flight,
		struct StabilizationSetpoint *	sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Does the INDI calculations.

Parameters

in_flight	boolean that states if the UAV is in flight or not
sp	rate setpoint
thrust	thrust setpoint
cmd	output command array

Function that calculates the INDI commands

Parameters

in_flight	true aircraft is flying
sp	rate setpoint
thrust	thrust setpoint
cmd	output command array

Definition at line 520 of file stabilization_indi.c.

stabilization_indi_set_wls_settings()

void stabilization_indi_set_wls_settings

(

void

)

Function that sets the u_min, u_max and u_pref if function not elsewhere defined.

Definition at line 732 of file stabilization_indi.c.

References act_is_servo, act_pref, actuator_state_filt_vect, eff_sched_pusher_time, guidance_h, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, MAX_PPRZ, HorizontalGuidance::mode, rw_flap_offset, STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD, stateGetAirspeed_f(), WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, and wls_stab_p.

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stabilization_indi_update_filt_freq()

void stabilization_indi_update_filt_freq

(

float

freq

)

Definition at line 451 of file stabilization_indi.c.

References init_butterworth_2_low_pass(), init_first_order_low_pass(), p, rates_filt_fo, stabilization_indi_filter_freq, and stateGetBodyRates_f().

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Variable Documentation

act_is_servo

bool act_is_servo[INDI_NUM_ACT]

extern

Definition at line 171 of file stabilization_indi.c.

Referenced by ground_detect_periodic(), stabilization_indi_init(), and stabilization_indi_set_wls_settings().

act_pref

float act_pref[INDI_NUM_ACT]

extern

Definition at line 187 of file stabilization_indi.c.

Referenced by ctrl_eff_scheduling_periodic(), and stabilization_indi_set_wls_settings().

actuator_state_filt_vect

float actuator_state_filt_vect[INDI_NUM_ACT]

extern

Definition at line 210 of file stabilization_indi.c.

Referenced by eff_scheduling_cyfoam_periodic(), eff_scheduling_periodic_b(), eff_scheduling_rotwing_update_cmd(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), ground_detect_periodic(), guidance_indi_hybrid_set_wls_settings(), stabilization_indi_init(), stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

actuator_thrust_bx_pprz

float actuator_thrust_bx_pprz

extern

Bwls

float* Bwls[INDI_OUTPUTS]

extern

Definition at line 133 of file stabilization_indi.c.

Referenced by eff_scheduling_cyfoam_periodic(), stabilization_indi_init(), and stabilization_indi_rate_run().

g1g2

float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]

extern

Definition at line 276 of file stabilization_indi.c.

Referenced by eff_scheduling_falcon_init(), eff_scheduling_falcon_periodic(), eff_scheduling_falcon_report(), eff_scheduling_generic_periodic(), eff_scheduling_periodic_a(), eff_scheduling_periodic_b(), eff_scheduling_rotwing_update_aileron_effectiveness(), eff_scheduling_rotwing_update_elevator_effectiveness(), eff_scheduling_rotwing_update_flaperon_effectiveness(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), eff_scheduling_rotwing_update_pusher_effectiveness(), eff_scheduling_rotwing_update_rudder_effectiveness(), ground_detect_periodic(), guidance_indi_hybrid_set_wls_settings(), schdule_control_effectiveness(), send_eff_mat_g_indi(), stabilization_indi_init(), and sum_g1_g2().

indi_gains

struct Indi_gains indi_gains

extern

Definition at line 144 of file stabilization_indi.c.

Referenced by eff_scheduling_periodic_b(), stabilization_indi_attitude_run(), and stabilization_indi_rate_run().

indi_use_adaptive

bool indi_use_adaptive

extern

Definition at line 161 of file stabilization_indi.c.

stabilization_indi_filter_freq

float stabilization_indi_filter_freq

extern

Definition at line 220 of file stabilization_indi.c.

Referenced by stabilization_indi_update_filt_freq().

stablization_indi_yaw_dist_limit

float stablization_indi_yaw_dist_limit

extern

Limit the maximum specific moment that can be compensated (units rad/s^2)

Definition at line 206 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

thrust_bx_act_dyn

float thrust_bx_act_dyn

extern

thrust_bx_eff

float thrust_bx_eff

extern

thrust_bx_state_filt

float thrust_bx_state_filt

extern

wls_stab_p

struct WLS_t wls_stab_p

extern

Definition at line 1 of file stabilization_indi.c.

Referenced by schdule_control_effectiveness(), send_wls_u_stab(), send_wls_v_stab(), and stabilization_indi_set_wls_settings().