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quat_setpoint_int.c File Reference

Quaternion setpoint generation. More...

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Macros

#define QUAT_SETPOINT_HOVER_PITCH   RadOfDeg(90)
 
#define ROLL_COEF   (STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ)
 
#define PITCH_COEF   (STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
 
#define YAW_COEF   (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)
 
#define DEADBAND_EXCEEDED(VARIABLE, VALUE)   ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
 
#define APPLY_DEADBAND(VARIABLE, VALUE)   (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)
 

Functions

static void reset_sp_quat (int32_t _psi, int32_t _theta, struct Int32Quat *initial)
 
void stabilization_attitude_read_rc_absolute (bool_t in_flight)
 
void stabilization_attitude_sp_enter (void)
 

Detailed Description

Quaternion setpoint generation.

Definition in file quat_setpoint_int.c.

Macro Definition Documentation

#define APPLY_DEADBAND (   VARIABLE,
  VALUE 
)    (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)

Definition at line 29 of file quat_setpoint_int.c.

Referenced by stabilization_attitude_read_rc_absolute().

#define DEADBAND_EXCEEDED (   VARIABLE,
  VALUE 
)    ((VARIABLE > VALUE) || (VARIABLE < -VALUE))

Definition at line 28 of file quat_setpoint_int.c.

#define PITCH_COEF   (STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)

Definition at line 25 of file quat_setpoint_int.c.

Referenced by stabilization_attitude_read_rc_absolute().

#define QUAT_SETPOINT_HOVER_PITCH   RadOfDeg(90)

Definition at line 22 of file quat_setpoint_int.c.

Referenced by reset_sp_quat().

#define ROLL_COEF   (STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ)

Definition at line 24 of file quat_setpoint_int.c.

Referenced by stabilization_attitude_read_rc_absolute().

#define YAW_COEF   (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)

Definition at line 26 of file quat_setpoint_int.c.

Referenced by stabilization_attitude_read_rc_absolute().

Function Documentation

static void reset_sp_quat ( int32_t  _psi,
int32_t  _theta,
struct Int32Quat initial 
)
static
void stabilization_attitude_read_rc_absolute ( bool_t  in_flight)
void stabilization_attitude_sp_enter ( void  )

Definition at line 104 of file quat_setpoint_int.c.

References ahrs, Ahrs::ltp_to_body_quat, and reset_sp_quat().

Referenced by stabilization_attitude_ref_enter().

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