23 #ifndef STABILIZATION_INDI
24 #define STABILIZATION_INDI
31 #define INDI_G_SCALING 1000.0
35 extern float g1g2[INDI_OUTPUTS][INDI_NUM_ACT];
44 extern float *
Bwls[INDI_OUTPUTS];
53 extern float indi_Wu[INDI_NUM_ACT];
static float use_increment
General stabilization interface for rotorcrafts.
Common data structures shared by euler and quaternion int implementations.
Rotorcraft attitude reference generation.
float thrust_bx_state_filt
void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
This function reads rc commands.
void stabilization_indi_enter(void)
Function that resets important values upon engaging INDI.
float act_pref[INDI_NUM_ACT]
float * Bwls[INDI_OUTPUTS]
struct Indi_gains indi_gains
void stabilization_indi_set_failsafe_setpoint(void)
Function that calculates the failsafe setpoint.
float du_min_stab_indi[INDI_NUM_ACT]
bool act_is_servo[INDI_NUM_ACT]
void stabilization_indi_attitude_run(struct Int32Quat quat_sp, bool in_flight)
runs stabilization indi
float du_pref_stab_indi[INDI_NUM_ACT]
void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
Set attitude setpoint from command in earth axes.
float indi_Wu[INDI_NUM_ACT]
Weighting of different actuators in the cost function.
float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
float du_max_stab_indi[INDI_NUM_ACT]
void stabilization_indi_set_wls_settings(float use_increment)
float actuator_thrust_bx_pprz
void stabilization_indi_init(void)
Function that initializes important values upon engaging INDI.
void stabilization_indi_set_stab_sp(struct StabilizationSetpoint *sp)
Set attitude setpoint from stabilization setpoint struct.
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
Set attitude quaternion setpoint from rpy.
float actuator_state_filt_vect[INDI_NUM_ACT]
void stabilization_indi_rate_run(struct FloatRates rate_ref, bool in_flight)
Does the INDI calculations.
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
void stabilization_indi_set_quat_setpoint_i(struct Int32Quat *quat)
int int32_t
Typedef defining 32 bit int type.