Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_indi.h
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1 /*
2  * Copyright (C) Ewoud Smeur <ewoud_smeur@msn.com>
3  * MAVLab Delft University of Technology
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22 
23 #ifndef STABILIZATION_INDI
24 #define STABILIZATION_INDI
25 
29 
30 // Scaling for the control effectiveness to make it readible
31 #define INDI_G_SCALING 1000.0
32 
33 extern struct Int32Quat stab_att_sp_quat;
34 extern struct Int32Eulers stab_att_sp_euler;
35 extern float g1g2[INDI_OUTPUTS][INDI_NUM_ACT];
36 extern float actuator_state_filt_vect[INDI_NUM_ACT];
37 extern bool act_is_servo[INDI_NUM_ACT];
38 
39 extern bool indi_use_adaptive;
40 
41 extern float du_min_stab_indi[INDI_NUM_ACT];
42 extern float du_max_stab_indi[INDI_NUM_ACT];
43 extern float du_pref_stab_indi[INDI_NUM_ACT];
44 extern float *Bwls[INDI_OUTPUTS];
45 
46 extern float thrust_bx_eff;
47 extern float thrust_bx_act_dyn;
48 extern float actuator_thrust_bx_pprz;
49 extern float thrust_bx_state_filt;
50 
51 extern float act_pref[INDI_NUM_ACT];
52 
53 extern float indi_Wu[INDI_NUM_ACT];
54 
55 struct Indi_gains {
56  struct FloatRates att;
57  struct FloatRates rate;
58 };
59 
60 extern struct Indi_gains indi_gains;
61 
62 extern void stabilization_indi_init(void);
63 extern void stabilization_indi_enter(void);
65 extern void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy);
66 extern void stabilization_indi_set_quat_setpoint_i(struct Int32Quat *quat);
69 extern void stabilization_indi_rate_run(struct FloatRates rate_ref, bool in_flight);
71 extern void stabilization_indi_attitude_run(struct Int32Quat quat_sp, bool in_flight);
72 extern void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
73 
74 #endif /* STABILIZATION_INDI */
75 
angular rates
euler angles
Rotation quaternion.
static float use_increment
Definition: oneloop_andi.c:409
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]
bool indi_use_adaptive
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)
float thrust_bx_eff
float thrust_bx_act_dyn
struct FloatRates rate
struct FloatRates att
Stabilization setpoint.
Definition: stabilization.h:42
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
float heading
Definition: wedgebug.c:258