Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
stabilization_attitude_ref_int.h File Reference

Rotorcraft attitude reference generation API. More...

+ Include dependency graph for stabilization_attitude_ref_int.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  Int32RefModel


#define REF_ACCEL_FRAC   12
#define REF_RATE_FRAC   16
#define REF_ANGLE_FRAC   20
#define REF_ANGLE_PI   BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
#define REF_ANGLE_TWO_PI   BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)


static void reset_psi_ref_from_body (void)


struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
struct Int32Quat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
struct Int32Eulers stab_att_ref_euler
 with REF_ANGLE_FRAC More...
struct Int32Quat stab_att_ref_quat
 with INT32_QUAT_FRAC More...
struct Int32Rates stab_att_ref_rate
 with REF_RATE_FRAC More...
struct Int32Rates stab_att_ref_accel
 with REF_ACCEL_FRAC More...
struct Int32RefModel stab_att_ref_model

Detailed Description

Rotorcraft attitude reference generation API.

Common to all fixed-point reference generators (euler and quaternion)

Definition in file stabilization_attitude_ref_int.h.

Macro Definition Documentation

#define ANGLE_REF_NORMALIZE (   _a)
{ \
while (_a > REF_ANGLE_PI) _a -= REF_ANGLE_TWO_PI; \
while (_a < -REF_ANGLE_PI) _a += REF_ANGLE_TWO_PI; \
#define REF_ANGLE_PI

Definition at line 54 of file stabilization_attitude_ref_int.h.

Referenced by stabilization_attitude_ref_update().

#define REF_ACCEL_FRAC   12

Definition at line 48 of file stabilization_attitude_ref_int.h.

Referenced by stabilization_attitude_ref_update().

#define REF_ANGLE_PI   BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 52 of file stabilization_attitude_ref_int.h.

#define REF_ANGLE_TWO_PI   BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 53 of file stabilization_attitude_ref_int.h.

#define REF_RATE_FRAC   16

Function Documentation

static void reset_psi_ref_from_body ( void  )

Variable Documentation