Paparazzi UAS  v5.15_devel-105-g9de12e2
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stabilization_indi.h
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1 /*
2  * Copyright (C) Ewoud Smeur <ewoud_smeur@msn.com>
3  * MAVLab Delft University of Technology
4  *
5  * This file is part of paparazzi.
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21  */
22 
23 #ifndef STABILIZATION_INDI
24 #define STABILIZATION_INDI
25 
28 
29 //only 4 actuators supported for now
30 #define INDI_NUM_ACT 4
31 // outputs: roll, pitch, yaw, thrust
32 #define INDI_OUTPUTS 4
33 // Scaling for the control effectiveness to make it readible
34 #define INDI_G_SCALING 1000.0
35 
36 extern struct Int32Quat stab_att_sp_quat;
37 extern struct Int32Eulers stab_att_sp_euler;
38 extern float g1g2[INDI_OUTPUTS][INDI_NUM_ACT];
39 
40 extern bool indi_use_adaptive;
41 
43  float err_p;
44  float err_q;
45  float err_r;
46  float rate_p;
47  float rate_q;
48  float rate_r;
49 };
50 
52 
53 extern void stabilization_indi_init(void);
54 extern void stabilization_indi_enter(void);
56 extern void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy);
58 extern void stabilization_indi_run(bool in_flight, bool rate_control);
59 extern void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
60 
61 #endif /* STABILIZATION_INDI */
62 
struct ReferenceSystem reference_acceleration
void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
Set attitude setpoint from command in earth axes.
bool indi_use_adaptive
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
static float heading
Definition: ahrs_infrared.c:45
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
Set attitude quaternion setpoint from rpy.
void stabilization_indi_run(bool in_flight, bool rate_control)
runs stabilization indi
void stabilization_indi_set_failsafe_setpoint(void)
Function that calculates the failsafe setpoint.
Common data structures shared by euler and quaternion int implementations.
euler angles
#define INDI_NUM_ACT
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
signed long int32_t
Definition: types.h:19
#define INDI_OUTPUTS
void stabilization_indi_enter(void)
Function that resets important values upon engaging INDI.
void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
This function reads rc commands.
Rotorcraft attitude reference generation.
Rotation quaternion.
float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]
void stabilization_indi_init(void)
Function that initializes important values upon engaging INDI.