stabilization_rate.h File Reference

Rate stabilization for rotorcrafts. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "modules/radio_control/radio_control.h"
#include "math/pprz_algebra_float.h"

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Macros
#define	STABILIZATION_RATE_DEADBAND_P   0
#define	STABILIZATION_RATE_DEADBAND_Q   0
#define	STABILIZATION_RATE_DEADBAND_R   200
#define	ROLL_RATE_DEADBAND_EXCEEDED(_rc)
#define	PITCH_RATE_DEADBAND_EXCEEDED(_rc)
#define	YAW_RATE_DEADBAND_EXCEEDED(_rc)
#define	RC_RATE_P   RADIO_ROLL
#define	RC_RATE_Q   RADIO_PITCH
#define	RC_RATE_R   RADIO_YAW

Functions
void	stabilization_rate_init (void)
	Initialize rate controller. More...
void	stabilization_rate_run (bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Run indi rate interface from the "stabilization_rate_run" function. More...
void	stabilization_rate_enter (void)
	Reset rate controller. More...
struct StabilizationSetpoint	stabilization_rate_read_rc (struct RadioControl *rc)

Variables
struct FloatRates	stabilization_rate_gain
struct FloatRates	stabilization_rate_igain

Detailed Description

Rate stabilization for rotorcrafts.

Control loops for angular velocity.

Definition in file stabilization_rate.h.

Macro Definition Documentation

PITCH_RATE_DEADBAND_EXCEEDED

#define PITCH_RATE_DEADBAND_EXCEEDED

(

_rc

)

Value:

  (_rc->values[RADIO_PITCH] >  STABILIZATION_RATE_DEADBAND_Q || \
   _rc->values[RADIO_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)

Definition at line 49 of file stabilization_rate.h.

RC_RATE_P

#define RC_RATE_P   RADIO_ROLL

Definition at line 64 of file stabilization_rate.h.

RC_RATE_Q

#define RC_RATE_Q   RADIO_PITCH

Definition at line 65 of file stabilization_rate.h.

RC_RATE_R

#define RC_RATE_R   RADIO_YAW

Definition at line 66 of file stabilization_rate.h.

ROLL_RATE_DEADBAND_EXCEEDED

#define ROLL_RATE_DEADBAND_EXCEEDED

(

_rc

)

Value:

  (_rc->values[RADIO_ROLL] >  STABILIZATION_RATE_DEADBAND_P || \
   _rc->values[RADIO_ROLL] < -STABILIZATION_RATE_DEADBAND_P)

Definition at line 45 of file stabilization_rate.h.

STABILIZATION_RATE_DEADBAND_P

#define STABILIZATION_RATE_DEADBAND_P   0

Definition at line 36 of file stabilization_rate.h.

STABILIZATION_RATE_DEADBAND_Q

#define STABILIZATION_RATE_DEADBAND_Q   0

Definition at line 39 of file stabilization_rate.h.

STABILIZATION_RATE_DEADBAND_R

#define STABILIZATION_RATE_DEADBAND_R   200

Definition at line 42 of file stabilization_rate.h.

YAW_RATE_DEADBAND_EXCEEDED

#define YAW_RATE_DEADBAND_EXCEEDED

(

_rc

)

Value:

  (_rc->values[RADIO_YAW] >  STABILIZATION_RATE_DEADBAND_R || \
   _rc->values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)

Definition at line 53 of file stabilization_rate.h.

Function Documentation

stabilization_rate_enter()

void stabilization_rate_enter

(

void

)

Reset rate controller.

Definition at line 113 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, stabilization_indi_enter(), and stabilization_rate_sum_err.

Referenced by stabilization_attitude_read_rc().

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stabilization_rate_init()

void stabilization_rate_init

(

void

)

Initialize rate controller.

Definition at line 92 of file stabilization_rate.c.

References DefaultPeriodic, FLOAT_RATES_ZERO, RATES_ASSIGN, register_periodic_telemetry(), send_rate(), stabilization_rate_gain, stabilization_rate_igain, STABILIZATION_RATE_IGAIN_P, STABILIZATION_RATE_IGAIN_Q, STABILIZATION_RATE_IGAIN_R, stabilization_rate_sp, and stabilization_rate_sum_err.

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stabilization_rate_read_rc()

struct StabilizationSetpoint stabilization_rate_read_rc

(

struct RadioControl *

rc

)

Definition at line 118 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, MAX_PPRZ, MAX_SUM_ERR, FloatRates::p, FloatRates::q, FloatRates::r, RATES_ADD, RATES_BOUND_CUBE, RATES_DIFF, RATES_SDIV, stab_sp_to_rates_f(), stabilization_indi_rate_run(), stabilization_rate_fb_cmd, stabilization_rate_gain, stabilization_rate_igain, stabilization_rate_sp, stabilization_rate_sum_err, stateGetBodyRates_f(), th_sp_to_thrust_i(), and THRUST_AXIS_Z.

Referenced by rc_cb().

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stabilization_rate_run()

void stabilization_rate_run	(	bool	in_flight,
		struct StabilizationSetpoint *	rate_sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Run indi rate interface from the "stabilization_rate_run" function.

Definition at line 118 of file stabilization_rate.c.

Referenced by stab_sp_rotate_f().

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Variable Documentation

stabilization_rate_gain

struct FloatRates stabilization_rate_gain

extern

Definition at line 1 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_read_rc().

stabilization_rate_igain

struct FloatRates stabilization_rate_igain

extern

Definition at line 1 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_read_rc().