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stabilization_indi_simple.h File Reference
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Data Structures

struct  Indi_gains
 
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_quat_setpoint_i (struct Int32Quat *quat)
 
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_set_stab_sp (struct StabilizationSetpoint *sp)
 Set attitude setpoint from stabilization setpoint struct. More...
 
void stabilization_indi_rate_run (struct FloatRates rates_sp, bool in_flight)
 Does the INDI calculations. More...
 
void stabilization_indi_attitude_run (struct Int32Quat quat_sp, bool in_flight)
 runs stabilization indi More...
 
void stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 This function reads rc commands. More...
 
void stabilization_indi_simple_reset_r_filter_cutoff (float new_cutoff)
 

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

◆ Indi_gains

struct Indi_gains

Definition at line 55 of file stabilization_indi.h.

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Data Fields
struct FloatRates att
struct FloatRates rate

◆ IndiEstimation

struct IndiEstimation

Definition at line 49 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]

◆ IndiVariables

struct IndiVariables

Definition at line 61 of file stabilization_indi_simple.h.

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

Function Documentation

◆ stabilization_indi_attitude_run()

void stabilization_indi_attitude_run ( struct Int32Quat  quat_sp,
bool  in_flight 
)

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 769 of file stabilization_indi.c.

References angular_rate_ref, Indi_gains::att, float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), IndiVariables::gains, indi, indi_gains, indi_thrust_increment_set, FloatRates::p, FloatRates::q, QUAT_FLOAT_OF_BFP, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, Indi_gains::rate, RATES_ADD, stab_att_ff_rates, stabilization_indi_rate_run(), stateGetNedToBodyQuat_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_attitude_run().

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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 424 of file stabilization_indi.c.

References IndiVariables::angular_accel_ref, ddu_estimation, du_estimation, FLOAT_RATES_ZERO, float_vect_zero(), indi, indi_init_filters(), 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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◆ stabilization_indi_init()

◆ stabilization_indi_rate_run()

void stabilization_indi_rate_run ( struct FloatRates  rate_sp,
bool  in_flight 
)

Does the INDI calculations.

Parameters
att_errattitude error
rate_controlboolean that states if we are in rate control or attitude control
in_flightboolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Parameters
indi_commands[]Array of commands that the function will write to
att_errquaternion attitude error

Definition at line 555 of file stabilization_indi.c.

References IndiVariables::act_dyn, act_is_servo, act_is_thruster_x, act_is_thruster_z, actuator_lowpass_filters, actuator_state, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, angular_accel_ref, IndiVariables::angular_accel_ref, angular_acceleration, IndiVariables::attitude_max_yaw_rate, autopilot_get_motors_on(), Bwls, IndiVariables::du, du_max_stab_indi, du_min_stab_indi, du_pref_stab_indi, estimation_input_lowpass_filters, estimation_output_lowpass_filters, estimation_rate_d, estimation_rate_dd, filter_pqr(), finite_difference_from_filter(), FLOAT_RATES_ZERO, float_vect_copy(), float_vect_sum(), IndiVariables::g1, g1g2_pseudo_inv, g2, IndiVariables::g2, g2_times_du, IndiVariables::gains, get_actuator_state(), indi, indi_du, INDI_G_SCALING, indi_gains, indi_thrust_increment, indi_thrust_increment_set, indi_u, indi_use_adaptive, indi_v, indi_Wu, lms_estimation(), MAX_PPRZ, measurement_lowpass_filters, num_iter, num_thrusters, num_thrusters_x, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, radio_control, Indi_gains::rate, IndiVariables::rate, IndiVariables::rate_d, rates_filt_fo, stabilization_cmd, stabilization_indi_set_wls_settings(), stateGetBodyRates_f(), IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, update_butterworth_2_low_pass(), update_first_order_low_pass(), use_increment, RadioControl::values, wls_alloc(), Wv, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_run().

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◆ stabilization_indi_read_rc()

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 821 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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◆ stabilization_indi_set_earth_cmd_i()

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 518 of file stabilization_indi.c.

References FLOAT_RATES_ZERO, heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, quat_from_earth_cmd_i(), stab_att_ff_rates, 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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◆ stabilization_indi_set_failsafe_setpoint()

void stabilization_indi_set_failsafe_setpoint ( void  )

Function that calculates the failsafe setpoint.

Definition at line 478 of file stabilization_indi.c.

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

Referenced by stabilization_attitude_set_failsafe_setpoint().

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◆ stabilization_indi_set_quat_setpoint_i()

void stabilization_indi_set_quat_setpoint_i ( struct Int32Quat quat)
Parameters
quatquaternion setpoint

Definition at line 505 of file stabilization_indi.c.

References FLOAT_RATES_ZERO, int32_eulers_of_quat(), stab_att_ff_rates, stab_att_sp_euler, and stab_att_sp_quat.

Referenced by stabilization_attitude_set_quat_setpoint_i().

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◆ stabilization_indi_set_rpy_setpoint_i()

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 493 of file stabilization_indi.c.

References FLOAT_RATES_ZERO, int32_quat_of_eulers(), stab_att_ff_rates, stab_att_sp_euler, and stab_att_sp_quat.

Referenced by stabilization_attitude_set_rpy_setpoint_i(), and vertical_ctrl_module_run().

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◆ stabilization_indi_set_stab_sp()

void stabilization_indi_set_stab_sp ( struct StabilizationSetpoint sp)

Set attitude setpoint from stabilization setpoint struct.

Parameters
spStabilization setpoint structure

Definition at line 541 of file stabilization_indi.c.

References stab_att_ff_rates, stab_att_sp_euler, stab_att_sp_quat, stab_sp_to_eulers_i(), stab_sp_to_quat_i(), and stab_sp_to_rates_f().

Referenced by stabilization_attitude_set_stab_sp().

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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 251 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

◆ stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler
extern

with INT32_ANGLE_FRAC

Definition at line 1 of file stabilization_attitude_euler_float.c.

◆ stab_att_sp_quat

struct Int32Quat stab_att_sp_quat
extern

with INT32_QUAT_FRAC

Definition at line 1 of file stabilization_attitude_heli_indi.c.