stabilization_oneloop.c

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/*
 * Copyright (C) 2011-2012 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#include "firmwares/rotorcraft/stabilization/stabilization_oneloop.h"
#include "firmwares/rotorcraft/oneloop/oneloop_andi.h"
#include "generated/modules.h"
 
 
void stabilization_attitude_enter(void)
{
  oneloop_andi_enter(true, CTRL_ANDI);
}
 
void stabilization_attitude_run(bool in_flight, UNUSED struct StabilizationSetpoint *sp, UNUSED struct ThrustSetpoint *thrust, UNUSED int32_t *cmd)
{
  struct FloatVect3 PSA_des    = { 0 };
  int    rm_order_h = 3;
  int    rm_order_v = 3;
  // Run the oneloop controller in half-loop mode
  if (oneloop_andi.half_loop) {
    oneloop_andi_run(in_flight, oneloop_andi.half_loop, PSA_des, rm_order_h, rm_order_v);
  }
}