stabilization_indi_simple.c File Reference

#include "firmwares/rotorcraft/stabilization/stabilization_indi_simple.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "state.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include "modules/radio_control/radio_control.h"
#include "filters/low_pass_filter.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_INDI_FILT_CUTOFF   8.0
#define	STABILIZATION_INDI_FILT_CUTOFF_RDOT   STABILIZATION_INDI_FILT_CUTOFF
#define	STABILIZATION_INDI_MAX_RATE   6.0
#define	STABILIZATION_INDI_MAX_R   STABILIZATION_ATTITUDE_SP_MAX_R
#define	STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF   4.0
#define	STABILIZATION_INDI_FILT_CUTOFF_P   20.0
#define	STABILIZATION_INDI_FILT_CUTOFF_Q   20.0
#define	STABILIZATION_INDI_FILT_CUTOFF_R   20.0
#define	INDI_EST_SCALE   0.001

Functions
static void	lms_estimation (void)
	This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration. More...
static void	indi_init_filters (void)
static void	send_att_indi (struct transport_tx *trans, struct link_device *dev)
static void	send_eff_mat_g_indi_simple (struct transport_tx *trans, struct link_device *dev)
static void	send_ahrs_ref_quat (struct transport_tx *trans, struct link_device *dev)
void	stabilization_indi_init (void)
	Function that initializes important values upon engaging INDI. More...
void	stabilization_indi_simple_reset_r_filter_cutoff (float new_cutoff)
void	stabilization_indi_enter (void)
	Function that resets important values upon engaging INDI. More...
static void	filter_pqr (Butterworth2LowPass *filter, struct FloatRates *new_values)
	Update butterworth filter for p, q and r of a FloatRates struct. More...
static void	finite_difference_from_filter (float *output, Butterworth2LowPass *filter)
	Caclulate finite difference form a filter array The filter already contains the previous values. More...
static void	finite_difference (float output[3], float new[3], float old[3])
	Calculate derivative of an array via finite difference. More...
void	stabilization_indi_rate_run (bool in_flight, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Does the INDI calculations. More...
void	stabilization_indi_attitude_run (bool in_flight, struct StabilizationSetpoint *att_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	runs stabilization indi More...

Variables
struct Int32Eulers	stab_att_sp_euler
struct Int32Quat	stab_att_sp_quat
static struct FirstOrderLowPass	rates_filt_fo [3]
struct IndiVariables	indi

Macro Definition Documentation

INDI_EST_SCALE

#define INDI_EST_SCALE   0.001

Definition at line 107 of file stabilization_indi_simple.c.

STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF

#define STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF   4.0

Definition at line 77 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF

#define STABILIZATION_INDI_FILT_CUTOFF   8.0

Definition at line 56 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_P

#define STABILIZATION_INDI_FILT_CUTOFF_P   20.0

Definition at line 83 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_Q

#define STABILIZATION_INDI_FILT_CUTOFF_Q   20.0

Definition at line 89 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_R

#define STABILIZATION_INDI_FILT_CUTOFF_R   20.0

Definition at line 95 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_RDOT

#define STABILIZATION_INDI_FILT_CUTOFF_RDOT   STABILIZATION_INDI_FILT_CUTOFF

Definition at line 61 of file stabilization_indi_simple.c.

STABILIZATION_INDI_MAX_R

#define STABILIZATION_INDI_MAX_R   STABILIZATION_ATTITUDE_SP_MAX_R

Definition at line 73 of file stabilization_indi_simple.c.

STABILIZATION_INDI_MAX_RATE

#define STABILIZATION_INDI_MAX_RATE   6.0

Definition at line 65 of file stabilization_indi_simple.c.

Function Documentation

filter_pqr()

static void filter_pqr ( Butterworth2LowPass *  filter, struct FloatRates *  new_values  )

inlinestatic

Update butterworth filter for p, q and r of a FloatRates struct.

Parameters

filter	The filter array to use
new_values	The new values

Definition at line 269 of file stabilization_indi_simple.c.

References FloatRates::p, FloatRates::q, FloatRates::r, and update_butterworth_2_low_pass().

Referenced by lms_estimation(), and stabilization_indi_rate_run().

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finite_difference()

static void finite_difference ( float  output[3], float  new[3], float  old[3]  )

inlinestatic

Calculate derivative of an array via finite difference.

Parameters

output[3]	The output array
new[3]	The newest values
old[3]	The values of the previous timestep

Definition at line 297 of file stabilization_indi_simple.c.

Referenced by lms_estimation().

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finite_difference_from_filter()

static void finite_difference_from_filter ( float *  output, Butterworth2LowPass *  filter  )

inlinestatic

Caclulate finite difference form a filter array The filter already contains the previous values.

Parameters

output	The output array
filter	The filter array input

Definition at line 283 of file stabilization_indi_simple.c.

References SecondOrderLowPass::o.

Referenced by lms_estimation(), and stabilization_indi_rate_run().

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indi_init_filters()

void indi_init_filters ( void  )

static

Definition at line 218 of file stabilization_indi_simple.c.

References IndiVariables::est, indi, init_butterworth_2_low_pass(), init_first_order_low_pass(), p, IndiEstimation::rate, IndiVariables::rate, rates_filt_fo, STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF_P, STABILIZATION_INDI_FILT_CUTOFF_Q, STABILIZATION_INDI_FILT_CUTOFF_R, STABILIZATION_INDI_FILT_CUTOFF_RDOT, stateGetBodyRates_f(), IndiEstimation::u, and IndiVariables::u.

Referenced by stabilization_indi_enter(), and stabilization_indi_init().

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lms_estimation()

static void lms_estimation ( void  )

inlinestatic

This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration.

Definition at line 464 of file stabilization_indi_simple.c.

References IndiVariables::adaptive, IndiVariables::est, filter_pqr(), finite_difference(), finite_difference_from_filter(), float_vect_copy(), float_vect_scale(), IndiEstimation::g1, IndiVariables::g1, IndiEstimation::g2, IndiVariables::g2, indi, INDI_EST_SCALE, IndiEstimation::mu, FloatRates::p, FloatRates::q, FloatRates::r, IndiEstimation::rate, IndiEstimation::rate_d, IndiEstimation::rate_dd, stateGetBodyRates_f(), IndiEstimation::u, IndiVariables::u_act_dyn, IndiEstimation::u_d, and IndiEstimation::u_dd.

Referenced by stabilization_indi_rate_run().

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send_ahrs_ref_quat()

static void send_ahrs_ref_quat ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 181 of file stabilization_indi_simple.c.

References dev, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stateGetNedToBodyQuat_i().

Referenced by stabilization_indi_init().

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send_att_indi()

static void send_att_indi ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 150 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, dev, indi, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, IndiVariables::rate, and IndiVariables::rate_d.

Referenced by stabilization_indi_init().

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send_eff_mat_g_indi_simple()

static void send_eff_mat_g_indi_simple ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 166 of file stabilization_indi_simple.c.

References dev, IndiVariables::est, IndiEstimation::g1, IndiEstimation::g2, indi, INDI_EST_SCALE, FloatRates::p, FloatRates::q, FloatRates::r, and RATES_SMUL.

Referenced by stabilization_indi_init().

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stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	bool	in_flight,
		struct StabilizationSetpoint *	att_sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

runs stabilization indi

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 417 of file stabilization_indi_simple.c.

References Indi_gains::att, float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), IndiVariables::gains, indi, FloatRates::p, FloatRates::q, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, Indi_gains::rate, RATES_ADD, StabilizationSetpoint::sp, stab_att_sp_euler, stab_att_sp_quat, stab_sp_from_rates_f(), stab_sp_to_eulers_i(), stab_sp_to_quat_f(), stab_sp_to_quat_i(), stab_sp_to_rates_f(), stabilization_indi_rate_run(), stateGetNedToBodyQuat_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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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 250 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, FLOAT_RATES_ZERO, indi, indi_init_filters(), Int32Eulers::psi, stab_att_sp_euler, stabilization_attitude_get_heading_i(), IndiVariables::u_act_dyn, and IndiVariables::u_in.

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stabilization_indi_init()

void stabilization_indi_init

(

void

)

Function that initializes important values upon engaging INDI.

Definition at line 196 of file stabilization_indi_simple.c.

References IndiVariables::act_dyn, DefaultPeriodic, indi, indi_init_filters(), FloatRates::p, FloatRates::q, FloatRates::r, register_periodic_telemetry(), send_ahrs_ref_quat(), send_att_indi(), and send_eff_mat_g_indi_simple().

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stabilization_indi_rate_run()

void stabilization_indi_rate_run	(	bool	in_flight,
		struct StabilizationSetpoint *	sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Does the INDI calculations.

Parameters

in_flight	true aircraft is flying
sp	rate setpoint
thrust	thrust setpoint
cmd	output command array

Definition at line 312 of file stabilization_indi_simple.c.

References IndiVariables::act_dyn, IndiVariables::angular_accel_ref, IndiVariables::attitude_max_yaw_rate, IndiVariables::du, filter_pqr(), finite_difference_from_filter(), FLOAT_RATES_ZERO, IndiVariables::g1, IndiVariables::g2, IndiVariables::gains, indi, lms_estimation(), MAX_PPRZ, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, IndiVariables::rate, IndiVariables::rate_d, rates_filt_fo, stab_sp_to_rates_f(), stateGetBodyRates_f(), th_sp_to_thrust_i(), THRUST_AXIS_Z, IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, and update_first_order_low_pass().

Referenced by stabilization_indi_attitude_run().

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stabilization_indi_simple_reset_r_filter_cutoff()

void stabilization_indi_simple_reset_r_filter_cutoff

(

float

new_cutoff

)

Definition at line 243 of file stabilization_indi_simple.c.

References IndiVariables::cutoff_r, indi, init_first_order_low_pass(), rates_filt_fo, and stateGetBodyRates_f().

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Variable Documentation

indi

struct IndiVariables indi

Definition at line 104 of file stabilization_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic(), indi_init_filters(), lms_estimation(), send_att_indi(), send_eff_mat_g_indi_simple(), stabilization_indi_attitude_run(), stabilization_indi_enter(), stabilization_indi_init(), stabilization_indi_rate_run(), and stabilization_indi_simple_reset_r_filter_cutoff().

rates_filt_fo

struct FirstOrderLowPass rates_filt_fo[3]

static

Definition at line 1 of file stabilization_indi_simple.c.

Referenced by indi_init_filters(), stabilization_indi_rate_run(), and stabilization_indi_simple_reset_r_filter_cutoff().

stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

Definition at line 1 of file stabilization_indi_simple.c.

Referenced by guidance_flip_run(), stabilization_indi_attitude_run(), and stabilization_indi_enter().

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

Definition at line 1 of file stabilization_indi_simple.c.

Referenced by send_ahrs_ref_quat(), and stabilization_indi_attitude_run().