stabilization_indi_hinf.c File Reference

#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "math/pprz_algebra_float.h"
#include "autopilot.h"

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Functions
struct FloatRates	stabilization_indi_rate_controller (struct FloatRates rates, struct FloatRates sp)
	Angular acceleration controller based on Hinfinity.
struct FloatRates WEAK	stabilization_indi_attitude_controller (struct FloatQuat att, struct FloatQuat att_sp, struct FloatRates rates_ff)
	Angular rate controller based on Hinfinity.

Variables
static struct FloatRates	rate_state
static struct FloatRates	att_state
static float	Ap = STABILIZATION_INDI_HINF_Ap
static float	Bp = STABILIZATION_INDI_HINF_Bp
static float	Cp = STABILIZATION_INDI_HINF_Cp
static float	Dp = STABILIZATION_INDI_HINF_Dp
static float	Ad = STABILIZATION_INDI_HINF_Ad
static float	Bd = STABILIZATION_INDI_HINF_Bd
static float	Cd = STABILIZATION_INDI_HINF_Cd
static float	Dd = STABILIZATION_INDI_HINF_Dd

Function Documentation

stabilization_indi_attitude_controller()

struct FloatRates WEAK stabilization_indi_attitude_controller	(	struct FloatQuat	att,
		struct FloatQuat	att_sp,
		struct FloatRates	rates_ff
	)

Angular rate controller based on Hinfinity.

Default PD angular rate controller.

Takes the current attitude filtered state and setpoint and compute the desired rates. Can be redefined elsewhere to use an other control scheme.

Definition at line 70 of file stabilization_indi_hinf.c.

References Ap, Indi_gains::att, att_state, autopilot_in_flight(), Bp, Cp, Dp, float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), FLOAT_RATES_ZERO, foo, indi_gains, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, and RATES_ADD.

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stabilization_indi_rate_controller()

struct FloatRates stabilization_indi_rate_controller	(	struct FloatRates	rates,
		struct FloatRates	sp
	)

Angular acceleration controller based on Hinfinity.

Default PD angular acceleration controller.

Takes the current rates filtered state and setpoint and compute the desired acceleration.

Definition at line 43 of file stabilization_indi_hinf.c.

References Ad, autopilot_in_flight(), Bd, Cd, Dd, FLOAT_RATES_ZERO, foo, indi_gains, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, rate_state, and RATES_DIFF.

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Variable Documentation

Ad

float Ad = STABILIZATION_INDI_HINF_Ad

static

Definition at line 34 of file stabilization_indi_hinf.c.

Ap

float Ap = STABILIZATION_INDI_HINF_Ap

static

Definition at line 29 of file stabilization_indi_hinf.c.

att_state

struct FloatRates att_state

static

Definition at line 26 of file stabilization_indi_hinf.c.

Referenced by control_error_attitude(), control_error_rate(), and stabilization_indi_attitude_controller().

Bd

float Bd = STABILIZATION_INDI_HINF_Bd

static

Definition at line 35 of file stabilization_indi_hinf.c.

Bp

float Bp = STABILIZATION_INDI_HINF_Bp

static

Definition at line 30 of file stabilization_indi_hinf.c.

Cd

float Cd = STABILIZATION_INDI_HINF_Cd

static

Definition at line 36 of file stabilization_indi_hinf.c.

Cp

float Cp = STABILIZATION_INDI_HINF_Cp

static

Definition at line 31 of file stabilization_indi_hinf.c.

Dd

float Dd = STABILIZATION_INDI_HINF_Dd

static

Definition at line 37 of file stabilization_indi_hinf.c.

Dp

float Dp = STABILIZATION_INDI_HINF_Dp

static

Definition at line 32 of file stabilization_indi_hinf.c.

rate_state

struct FloatRates rate_state

static

Definition at line 25 of file stabilization_indi_hinf.c.

Referenced by stabilization_indi_rate_controller().