Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Data Fields
IndiController_int Struct Reference

#include <stabilization_attitude_heli_indi.h>

Data Fields

int32_t reference [INDI_DOF]
 Range -MAX_PPRZ:MAX_PPRZ. More...
 
int32_t error [INDI_DOF]
 virtual control minus measurement More...
 
int32_t invG [INDI_DOF][INDI_DOF]
 Inverse control effectiveness matrix. More...
 
int32_t du [INDI_DOF]
 Actuator commanded increment. More...
 
int32_t u_setpoint [INDI_DOF]
 Actuator setpoint without compensator. More...
 
int32_t actuator_out [INDI_DOF]
 Actuator position. More...
 
int32_t command_out [2][INDI_DOF]
 Command and command from previous measurement. More...
 
int32_t filtered_actuator [INDI_NR_FILTERS][INDI_DOF]
 Filtered actuator position. More...
 
int32_t measurement [INDI_DOF]
 Raw measurement. More...
 
int32_t filtered_measurement [INDI_NR_FILTERS][INDI_DOF]
 Filtered measurement. More...
 
int32_t pitch_comp_angle
 Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC. More...
 
int32_t roll_comp_angle
 Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC. More...
 
bool enable_notch
 Use notch filters. More...
 
int16_t motor_rpm
 RPM of the main motor. More...
 
float sp_offset_roll
 Neutral roll angle [deg]. More...
 
float sp_offset_pitch
 Neutral pitch angle [deg]. More...
 
void(* apply_compensator_filters )(int32_t _out[], int32_t _in[])
 
void(* apply_actuator_models )(int32_t _out[], int32_t _in[])
 
void(* apply_actuator_filters [INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
 
void(* apply_measurement_filters [INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
 

Detailed Description

Definition at line 47 of file stabilization_attitude_heli_indi.h.

Field Documentation

◆ actuator_out

int32_t IndiController_int::actuator_out[INDI_DOF]

Actuator position.

Definition at line 53 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ apply_actuator_filters

void(* IndiController_int::apply_actuator_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])

Definition at line 66 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ apply_actuator_models

void(* IndiController_int::apply_actuator_models) (int32_t _out[], int32_t _in[])

Definition at line 65 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ apply_compensator_filters

void(* IndiController_int::apply_compensator_filters) (int32_t _out[], int32_t _in[])

Definition at line 64 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ apply_measurement_filters

void(* IndiController_int::apply_measurement_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])

Definition at line 67 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ command_out

int32_t IndiController_int::command_out[2][INDI_DOF]

Command and command from previous measurement.

Definition at line 54 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ du

int32_t IndiController_int::du[INDI_DOF]

Actuator commanded increment.

Definition at line 51 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ enable_notch

bool IndiController_int::enable_notch

Use notch filters.

Definition at line 60 of file stabilization_attitude_heli_indi.h.

Referenced by indi_apply_notch_filters(), stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ error

int32_t IndiController_int::error[INDI_DOF]

virtual control minus measurement

Definition at line 49 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ filtered_actuator

int32_t IndiController_int::filtered_actuator[INDI_NR_FILTERS][INDI_DOF]

Filtered actuator position.

Definition at line 55 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ filtered_measurement

int32_t IndiController_int::filtered_measurement[INDI_NR_FILTERS][INDI_DOF]

Filtered measurement.

Definition at line 57 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ invG

int32_t IndiController_int::invG[INDI_DOF][INDI_DOF]

Inverse control effectiveness matrix.

Definition at line 50 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ measurement

int32_t IndiController_int::measurement[INDI_DOF]

Raw measurement.

Definition at line 56 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ motor_rpm

int16_t IndiController_int::motor_rpm

RPM of the main motor.

Definition at line 61 of file stabilization_attitude_heli_indi.h.

Referenced by indi_apply_notch_filters(), stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ pitch_comp_angle

int32_t IndiController_int::pitch_comp_angle

Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.

Definition at line 58 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ reference

int32_t IndiController_int::reference[INDI_DOF]

Range -MAX_PPRZ:MAX_PPRZ.

Definition at line 48 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

◆ roll_comp_angle

int32_t IndiController_int::roll_comp_angle

Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.

Definition at line 59 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), and stabilization_attitude_run().

◆ sp_offset_pitch

float IndiController_int::sp_offset_pitch

Neutral pitch angle [deg].

Definition at line 63 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), stabilization_attitude_heli_indi_set_steadystate_pitch(), and stabilization_attitude_heli_indi_set_steadystate_pitchroll().

◆ sp_offset_roll

float IndiController_int::sp_offset_roll

Neutral roll angle [deg].

Definition at line 62 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_init(), stabilization_attitude_heli_indi_set_steadystate_pitchroll(), and stabilization_attitude_heli_indi_set_steadystate_roll().

◆ u_setpoint

int32_t IndiController_int::u_setpoint[INDI_DOF]

Actuator setpoint without compensator.

Definition at line 52 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_run().

The documentation for this struct was generated from the following file: