stabilization_oneloop.c File Reference

#include "firmwares/rotorcraft/stabilization/stabilization_oneloop.h"
#include "firmwares/rotorcraft/oneloop/oneloop_andi.h"
#include "modules/radio_control/radio_control.h"
#include "generated/airframe.h"
#include "generated/modules.h"

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Functions
void	stabilization_attitude_init (void)
	stabilization_attitude_init More...
void	stabilization_attitude_enter (void)
void	stabilization_attitude_set_failsafe_setpoint (void)
void	stabilization_attitude_set_rpy_setpoint_i (UNUSED struct Int32Eulers *rpy)
void	stabilization_attitude_set_quat_setpoint_i (UNUSED struct Int32Quat *quat)
void	stabilization_attitude_set_earth_cmd_i (UNUSED struct Int32Vect2 *cmd, UNUSED int32_t heading)
void	stabilization_attitude_set_stab_sp (UNUSED struct StabilizationSetpoint *sp)
void	stabilization_attitude_run (bool in_flight)
void	stabilization_attitude_read_rc (UNUSED bool in_flight, UNUSED bool in_carefree, UNUSED bool coordinated_turn)

Variables
struct FloatEulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
struct FloatRates	stab_att_ff_rates

Function Documentation

stabilization_attitude_enter()

void stabilization_attitude_enter

(

void

)

Definition at line 49 of file stabilization_oneloop.c.

References att_ref_euler_f, attitude_ref_euler_float_enter(), FLOAT_EULERS_ZERO, oneloop_andi_enter(), FloatEulers::psi, stab_att_sp_euler, stabilization_att_sum_err, and stabilization_attitude_get_heading_f().

Referenced by guidance_h_mode_changed(), and ins_ekf2_publish_attitude().

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stabilization_attitude_init()

void stabilization_attitude_init

(

void

)

stabilization_attitude_init

Initialize the heli indi attitude controller.

Definition at line 44 of file stabilization_oneloop.c.

References att_ref_euler_f, attitude_ref_euler_float_init(), FloatAttitudeGains::d, FloatAttitudeGains::dd, DefaultPeriodic, FLOAT_EULERS_ZERO, FloatAttitudeGains::i, FloatAttitudeGains::p, register_periodic_telemetry(), send_att(), send_att_ref(), stabilization_att_sum_err, stabilization_gains, and VECT3_ASSIGN.

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stabilization_attitude_read_rc()

void stabilization_attitude_read_rc	(	UNUSED bool	in_flight,
		UNUSED bool	in_carefree,
		UNUSED bool	coordinated_turn
	)

Definition at line 91 of file stabilization_oneloop.c.

stabilization_attitude_run()

void stabilization_attitude_run

(

bool

in_flight

)

Definition at line 79 of file stabilization_oneloop.c.

References AttRefEulerFloat::accel, att_ref_euler_f, attitude_ref_euler_float_update(), FloatAttitudeGains::d, FloatAttitudeGains::dd, AttRefEulerFloat::euler, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_COPY, EULERS_DIFF, FLOAT_ANGLE_NORMALIZE, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, OneloopGeneral::half_loop, FloatAttitudeGains::i, MAX_PPRZ, MAX_SUM_ERR, oneloop_andi, oneloop_andi_run(), FloatAttitudeGains::p, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, RATES_DIFF, stab_att_sp_euler, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_cmd, stabilization_gains, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_flip_run(), guidance_h_from_nav(), guidance_h_guided_run(), guidance_h_module_run(), guidance_h_run(), and vertical_ctrl_module_run().

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stabilization_attitude_set_earth_cmd_i()

void stabilization_attitude_set_earth_cmd_i	(	UNUSED struct Int32Vect2 *	cmd,
		UNUSED int32_t	heading
	)

Definition at line 69 of file stabilization_oneloop.c.

stabilization_attitude_set_failsafe_setpoint()

void stabilization_attitude_set_failsafe_setpoint

(

void

)

Definition at line 54 of file stabilization_oneloop.c.

References FloatEulers::phi, FloatEulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by autopilot_static_set_mode().

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stabilization_attitude_set_quat_setpoint_i()

void stabilization_attitude_set_quat_setpoint_i

(

UNUSED struct Int32Quat *

quat

)

Definition at line 64 of file stabilization_oneloop.c.

stabilization_attitude_set_rpy_setpoint_i()

void stabilization_attitude_set_rpy_setpoint_i

(

UNUSED struct Int32Eulers *

rpy

)

Definition at line 59 of file stabilization_oneloop.c.

stabilization_attitude_set_stab_sp()

void stabilization_attitude_set_stab_sp

(

UNUSED struct StabilizationSetpoint *

sp

)

Definition at line 74 of file stabilization_oneloop.c.

Variable Documentation

stab_att_ff_rates

struct FloatRates stab_att_ff_rates

Definition at line 1 of file stabilization_oneloop.c.

stab_att_sp_euler

struct FloatEulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 1 of file stabilization_oneloop.c.

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 1 of file stabilization_oneloop.c.