StabilizationSetpoint Struct Reference

Stabilization setpoint. More...

#include <stabilization.h>

Public Types
enum	{   STAB_SP_QUAT , STAB_SP_EULERS , STAB_SP_LTP , STAB_SP_RATES ,   STAB_SP_QUAT_FF_RATE }
enum	{ STAB_SP_INT , STAB_SP_FLOAT }

Data Fields
enum StabilizationSetpoint:: { ... }	type
enum StabilizationSetpoint:: { ... }	format
union {
struct Int32Quat	quat_i
struct FloatQuat	quat_f
struct Int32Eulers	eulers_i
struct FloatEulers	eulers_f
struct {
struct Int32Vect2	vect
int32_t	heading
}	ltp_i
struct {
struct FloatVect2	vect
float	heading
}	ltp_f
}	sp
union {
struct Int32Rates	rates_i
struct FloatRates	rates_f
}	r_sp

Detailed Description

Stabilization setpoint.

Struture to store the desired attitude with different frames and representations

Definition at line 53 of file stabilization.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
STAB_SP_QUAT	LTP to Body orientation in unit quaternion.
STAB_SP_EULERS	LTP to Body orientation in euler angles.
STAB_SP_LTP	banking and heading in LTP (NED) frame
STAB_SP_RATES	body rates
STAB_SP_QUAT_FF_RATE	LTP to Body orientation in unit quaternion with precomputed feedforward rates.

Definition at line 54 of file stabilization.h.

anonymous enum

anonymous enum

Enumerator
STAB_SP_INT
STAB_SP_FLOAT

Definition at line 61 of file stabilization.h.

Field Documentation

[]

enum { ... } StabilizationSetpoint::format

Referenced by stab_sp_from_eulers_f(), stab_sp_from_eulers_i(), stab_sp_from_ltp_f(), stab_sp_from_ltp_i(), stab_sp_from_quat_f(), stab_sp_from_quat_ff_rates_f(), stab_sp_from_quat_i(), stab_sp_from_rates_f(), and stab_sp_from_rates_i().

[union]

union { ... } StabilizationSetpoint::r_sp

Referenced by stab_sp_from_quat_ff_rates_f(), stab_sp_from_rates_f(), and stab_sp_from_rates_i().

[union]

union { ... } StabilizationSetpoint::sp

Referenced by guidance_h_from_nav(), guidance_h_run(), guidance_hybrid_h_run_accel(), guidance_module_run(), guidance_oneloop_run_mode(), guidance_pid_h_run_accel(), stab_sp_from_eulers_f(), stab_sp_from_eulers_i(), stab_sp_from_ltp_f(), stab_sp_from_ltp_i(), stab_sp_from_quat_f(), stab_sp_from_quat_ff_rates_f(), stab_sp_from_quat_i(), stab_sp_from_rates_f(), stab_sp_from_rates_i(), stabilization_indi_attitude_run(), stabilization_run(), and vertical_ctrl_module_run().

[]

enum { ... } StabilizationSetpoint::type

Referenced by stab_sp_from_eulers_f(), stab_sp_from_eulers_i(), stab_sp_from_ltp_f(), stab_sp_from_ltp_i(), stab_sp_from_quat_f(), stab_sp_from_quat_ff_rates_f(), stab_sp_from_quat_i(), stab_sp_from_rates_f(), and stab_sp_from_rates_i().

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

• sw/airborne/firmwares/rotorcraft/stabilization.h