Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_float.h
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1 /*
2  * $Id: stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
3  *
4  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
5  *
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23 
24 #ifndef STABILIZATION_ATTITUDE_FLOAT_H
25 #define STABILIZATION_ATTITUDE_FLOAT_H
26 
28 
29 #include "generated/airframe.h"
30 
31 #ifndef STABILIZATION_ATTITUDE_FLOAT_GAIN_NB
32 #define STABILIZATION_ATTITUDE_FLOAT_GAIN_NB 1
33 #endif
34 
35 #ifndef STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT
36 #define STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT 0
37 #endif
38 
40  struct FloatVect3 p;
41  struct FloatVect3 d;
42  struct FloatVect3 dd;
44  struct FloatVect3 i;
49 };
50 
53 
54 extern float stabilization_att_fb_cmd[COMMANDS_NB];
55 extern float stabilization_att_ff_cmd[COMMANDS_NB];
56 
58 
59 #endif /* STABILIZATION_ATTITUDE_FLOAT_H */
void stabilization_attitude_gain_schedule(uint8_t idx)
float stabilization_att_fb_cmd[COMMANDS_NB]
euler angles
Paparazzi floating point algebra.
struct FloatEulers stabilization_att_sum_err_eulers
unsigned char uint8_t
Definition: types.h:14
struct FloatAttitudeGains stabilization_gains[]
float stabilization_att_ff_cmd[COMMANDS_NB]