stabilization_indi.h File Reference

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.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_set_failsafe_setpoint (void)
	Function that calculates the failsafe setpoint. More...
void	stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
	Set attitude quaternion setpoint from rpy. More...
void	stabilization_indi_set_quat_setpoint_i (struct Int32Quat *quat)
void	stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
	Set attitude setpoint from command in earth axes. More...
void	stabilization_indi_set_stab_sp (struct StabilizationSetpoint *sp)
	Set attitude setpoint from stabilization setpoint struct. More...
void	stabilization_indi_rate_run (struct FloatRates rate_ref, bool in_flight)
	Does the INDI calculations. More...
void	stabilization_indi_set_wls_settings (void)
	Function that sets the du_min, du_max and du_pref if function not elsewhere defined. More...
void	stabilization_indi_attitude_run (struct Int32Quat quat_sp, bool in_flight)
	runs stabilization indi More...
void	stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
	This function reads rc commands. More...

Variables
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
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	u_min_stab_indi [INDI_NUM_ACT]
float	u_max_stab_indi [INDI_NUM_ACT]
float	u_pref_stab_indi [INDI_NUM_ACT]
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	indi_Wu [INDI_NUM_ACT]
	Weighting of different actuators in the cost function. More...
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

---

Data Structure Documentation

Indi_gains

struct Indi_gains

Definition at line 55 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 31 of file stabilization_indi.h.

Function Documentation

stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	struct Int32Quat	quat_sp,
		bool	in_flight
	)

runs stabilization indi

Parameters

enable_integrator
rate_control	boolean that determines if we are in rate control or attitude control

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 786 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 432 of file stabilization_indi.c.

stabilization_indi_init()

void stabilization_indi_init

(

void

)

Function that initializes important values upon engaging INDI.

Definition at line 359 of file stabilization_indi.c.

stabilization_indi_rate_run()

void stabilization_indi_rate_run	(	struct FloatRates	rate_sp,
		bool	in_flight
	)

Does the INDI calculations.

Parameters

att_err	attitude error
rate_control	boolean that states if we are in rate control or attitude control
in_flight	boolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Parameters

indi_commands[]	Array of commands that the function will write to
att_err	quaternion attitude error

Definition at line 565 of file stabilization_indi.c.

stabilization_indi_read_rc()

void stabilization_indi_read_rc	(	bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

This function reads rc commands.

Parameters

in_flight

boolean that states if the UAV is in flight or not

Definition at line 838 of file stabilization_indi.c.

stabilization_indi_set_earth_cmd_i()

void stabilization_indi_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Set attitude setpoint from command in earth axes.

Parameters

cmd	2D command in North East axes
heading	Heading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Parameters

cmd	The command in earth axes (North East)
heading	The desired heading

Definition at line 528 of file stabilization_indi.c.

stabilization_indi_set_failsafe_setpoint()

void stabilization_indi_set_failsafe_setpoint

(

void

)

Function that calculates the failsafe setpoint.

Definition at line 488 of file stabilization_indi.c.

stabilization_indi_set_quat_setpoint_i()

void stabilization_indi_set_quat_setpoint_i

(

struct Int32Quat *

quat

)

Parameters

quat	quaternion setpoint

Definition at line 515 of file stabilization_indi.c.

stabilization_indi_set_rpy_setpoint_i()

void stabilization_indi_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Set attitude quaternion setpoint from rpy.

Parameters

rpy	rpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Parameters

rpy	roll pitch yaw input

Definition at line 503 of file stabilization_indi.c.

stabilization_indi_set_stab_sp()

void stabilization_indi_set_stab_sp

(

struct StabilizationSetpoint *

sp

)

Set attitude setpoint from stabilization setpoint struct.

Parameters

sp	Stabilization setpoint structure

Definition at line 551 of file stabilization_indi.c.

stabilization_indi_set_wls_settings()

void stabilization_indi_set_wls_settings

(

void

)

Function that sets the du_min, du_max and du_pref if function not elsewhere defined.

Definition at line 756 of file stabilization_indi.c.

References act_is_servo, act_pref, actuator_state_filt_vect, guidance_h, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, MAX_PPRZ, HorizontalGuidance::mode, STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD, stateGetAirspeed_f(), u_max_stab_indi, u_min_stab_indi, and u_pref_stab_indi.

Referenced by stabilization_indi_rate_run().

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Variable Documentation

act_is_servo

bool act_is_servo[INDI_NUM_ACT]

extern

Definition at line 151 of file stabilization_indi.c.

Referenced by ground_detect_sensor_periodic(), stabilization_indi_init(), stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

act_pref

float act_pref[INDI_NUM_ACT]

extern

Definition at line 167 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_rot_wing_update_cmd(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), ground_detect_sensor_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 112 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 281 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_rot_wing_update_aileron_effectiveness(), eff_scheduling_rot_wing_update_elevator_effectiveness(), eff_scheduling_rot_wing_update_flaperon_effectiveness(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), eff_scheduling_rot_wing_update_pusher_effectiveness(), eff_scheduling_rot_wing_update_rudder_effectiveness(), ground_detect_sensor_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 124 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 141 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

indi_Wu

float indi_Wu[INDI_NUM_ACT]

extern

Weighting of different actuators in the cost function.

Definition at line 197 of file stabilization_indi.c.

Referenced by schdule_control_effectiveness(), and stabilization_indi_rate_run().

stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

extern

with INT32_ANGLE_FRAC

Definition at line 1 of file stabilization_attitude_euler_float.c.

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

extern

with INT32_QUAT_FRAC

Definition at line 1 of file stabilization_attitude_heli_indi.c.

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

u_max_stab_indi

float u_max_stab_indi[INDI_NUM_ACT]

extern

Definition at line 109 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

u_min_stab_indi

float u_min_stab_indi[INDI_NUM_ACT]

extern

Definition at line 108 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

u_pref_stab_indi

float u_pref_stab_indi[INDI_NUM_ACT]

extern

Definition at line 110 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().