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"

Include dependency graph for stabilization_rate.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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.
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.
void	stabilization_rate_enter (void)
	Reset rate controller.
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  )

extern

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_mode_changed().

Here is the call graph for this function:

Here is the caller graph for this function:

stabilization_rate_init()

void stabilization_rate_init ( void  )

extern

Initialize rate controller.

Definition at line 92 of file stabilization_rate.c.

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

Here is the call graph for this function:

stabilization_rate_read_rc()

struct StabilizationSetpoint stabilization_rate_read_rc ( struct RadioControl *  rc )

extern

Definition at line 158 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, foo, MAX_PPRZ, PITCH_RATE_DEADBAND_EXCEEDED, RC_RATE_P, RC_RATE_Q, RC_RATE_R, ROLL_RATE_DEADBAND_EXCEEDED, stab_sp_from_rates_f(), STABILIZATION_INDI_MAX_RATE, THROTTLE_STICK_DOWN_FROM_RC, and YAW_RATE_DEADBAND_EXCEEDED.

Referenced by rc_cb().

Here is the call graph for this function:

Here is the caller graph for this function:

stabilization_rate_run()

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

extern

Run indi rate interface from the "stabilization_rate_run" function.

Definition at line 118 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, foo, 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_sp, stabilization_rate_sum_err, stateGetBodyRates_f(), th_sp_to_thrust_i(), and THRUST_AXIS_Z.

Referenced by stabilization_run().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

stabilization_rate_gain

struct FloatRates stabilization_rate_gain

extern

Definition at line 70 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

stabilization_rate_igain

struct FloatRates stabilization_rate_igain

extern

Definition at line 71 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().