stabilization_rate_indi.c File Reference

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate_indi.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_INDI_MAX_RATE   6.0
	Maximum rate you can request in RC rate mode (rad/s)

Functions
static void	send_rate (struct transport_tx *trans, struct link_device *dev)
void	stabilization_rate_init (void)
	Initialize rate controller.
void	stabilization_rate_enter (void)
	Reset 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.
struct StabilizationSetpoint	stabilization_rate_read_rc (struct RadioControl *rc)

Variables
struct FloatRates	stabilization_rate_sp

Detailed Description

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur.

Definition in file stabilization_rate_indi.c.

Macro Definition Documentation

STABILIZATION_INDI_MAX_RATE

#define STABILIZATION_INDI_MAX_RATE   6.0

Maximum rate you can request in RC rate mode (rad/s)

Definition at line 43 of file stabilization_rate_indi.c.

Function Documentation

send_rate()

static void send_rate ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 49 of file stabilization_rate_indi.c.

References Stabilization::cmd, dev, dummy, foo, FloatRates::p, FloatRates::q, FloatRates::r, stabilization, and stabilization_rate_sp.

Referenced by stabilization_rate_init().

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stabilization_rate_enter()

void stabilization_rate_enter

(

void

)

Reset rate controller.

Definition at line 84 of file stabilization_rate_indi.c.

References stabilization_indi_enter().

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stabilization_rate_init()

void stabilization_rate_init

(

void

)

Initialize rate controller.

Definition at line 71 of file stabilization_rate_indi.c.

References DefaultPeriodic, FLOAT_RATES_ZERO, foo, register_periodic_telemetry(), send_rate(), and stabilization_rate_sp.

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stabilization_rate_read_rc()

struct StabilizationSetpoint stabilization_rate_read_rc

(

struct RadioControl *

rc

)

Definition at line 100 of file stabilization_rate_indi.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.

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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 92 of file stabilization_rate_indi.c.

References foo, stab_sp_to_rates_f(), stabilization_indi_rate_run(), and stabilization_rate_sp.

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Variable Documentation

stabilization_rate_sp

struct FloatRates stabilization_rate_sp

Definition at line 39 of file stabilization_rate_indi.c.

Referenced by send_rate(), stabilization_rate_init(), and stabilization_rate_run().