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stabilization_indi_simple.h File Reference
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Data Structures

struct  ReferenceSystem
 
struct  IndiEstimation
 
struct  IndiVariables
 

Functions

void stabilization_indi_init (void)
 Function that initializes important values upon engaging INDI. More...
 
void stabilization_indi_enter (void)
 Function that resets important values upon engaging INDI. More...
 
void stabilization_indi_set_failsafe_setpoint (void)
 Function that calculates the failsafe setpoint. More...
 
void stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
 Set attitude quaternion setpoint from rpy. More...
 
void stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
 Set attitude setpoint from command in earth axes. More...
 
void stabilization_indi_run (bool enable_integrator, bool rate_control)
 runs stabilization indi More...
 
void stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 This function reads rc commands. More...
 

Variables

struct Int32Quat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
 
struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct IndiVariables indi
 

Data Structure Documentation

struct ReferenceSystem

Definition at line 42 of file stabilization_indi.h.

Data Fields
float err_p
float err_q
float err_r
float rate_p
float rate_q
float rate_r
struct IndiEstimation

Definition at line 52 of file stabilization_indi_simple.h.

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Data Fields
struct FloatRates g1
float g2
float mu
Butterworth2LowPass rate[3]
float rate_d[3]
float rate_dd[3]
Butterworth2LowPass u[3]
float u_d[3]
float u_dd[3]
struct IndiVariables

Definition at line 64 of file stabilization_indi_simple.h.

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Data Fields
bool adaptive Enable adataptive estimation.
struct FloatRates angular_accel_ref
float attitude_max_yaw_rate Maximum yaw rate in atttiude control in rad/s.
struct FloatRates du
struct IndiEstimation est Estimation parameters for adaptive INDI.
struct FloatRates g1
float g2
float max_rate Maximum rate in rate control in rad/s.
Butterworth2LowPass rate[3]
float rate_d[3]
struct ReferenceSystem reference_acceleration
Butterworth2LowPass u[3]
struct FloatRates u_act_dyn
struct FloatRates u_in

Function Documentation

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 254 of file stabilization_indi.c.

References IndiVariables::angular_accel_ref, ddu_estimation, du_estimation, FLOAT_RATES_ZERO, float_vect_zero(), indi_init_filters(), INDI_NUM_ACT, Int32Eulers::psi, stab_att_sp_euler, stabilization_attitude_get_heading_i(), IndiVariables::u_act_dyn, and IndiVariables::u_in.

Referenced by stabilization_attitude_enter(), and stabilization_rate_enter().

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void stabilization_indi_read_rc ( bool  in_flight,
bool  in_carefree,
bool  coordinated_turn 
)

This function reads rc commands.

Parameters
in_flightboolean that states if the UAV is in flight or not

Definition at line 517 of file stabilization_indi.c.

References QUAT_BFP_OF_REAL, stab_att_sp_quat, stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

Referenced by stabilization_attitude_read_rc().

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void stabilization_indi_run ( bool  in_flight,
bool  rate_control 
)

runs stabilization indi

Parameters
enable_integrator
rate_controlboolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Parameters
in_flightnot used
rate_controlrate control enabled, otherwise attitude control

Definition at line 475 of file stabilization_indi.c.

References angular_acceleration, estimation_rate_d, estimation_rate_dd, indi_thrust_increment_set, int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), MAX_PPRZ, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, stab_att_sp_quat, stabilization_att_indi_cmd, stabilization_cmd, stabilization_indi_calc_cmd(), stateGetBodyRates_f(), stateGetNedToBodyQuat_i(), and update_butterworth_2_low_pass().

Referenced by stabilization_attitude_run(), and stabilization_rate_run().

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void stabilization_indi_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)

Set attitude setpoint from command in earth axes.

Parameters
cmd2D command in North East axes
headingHeading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Parameters
cmdThe command in earth axes (North East)
headingThe desired heading

Definition at line 321 of file stabilization_indi.c.

References heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, quat_from_earth_cmd_i(), stab_att_sp_euler, stab_att_sp_quat, stateGetNedToBodyEulers_i(), Int32Eulers::theta, Int32Vect2::x, and Int32Vect2::y.

Referenced by stabilization_attitude_set_earth_cmd_i().

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void stabilization_indi_set_failsafe_setpoint ( void  )

Function that calculates the failsafe setpoint.

Definition at line 292 of file stabilization_indi.c.

References PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_i().

Referenced by stabilization_attitude_set_failsafe_setpoint().

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void stabilization_indi_set_rpy_setpoint_i ( struct Int32Eulers rpy)

Set attitude quaternion setpoint from rpy.

Parameters
rpyrpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Parameters
rpyroll pitch yaw input

Definition at line 307 of file stabilization_indi.c.

References int32_quat_of_eulers(), stab_att_sp_euler, and stab_att_sp_quat.

Referenced by stabilization_attitude_set_rpy_setpoint_i().

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Variable Documentation

struct IndiVariables indi

Definition at line 85 of file stabilization_indi_simple.c.