Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude.c File Reference
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "std.h"
#include "led.h"
#include "estimator.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"
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Go to the source code of this file.

Macros

#define H_CTL_COURSE_PRE_BANK_CORRECTION   1.
 
#define H_CTL_COURSE_DGAIN   0.
 
#define H_CTL_ROLL_RATE_GAIN   0.
 

Functions

static void h_ctl_roll_loop (void)
 Computes h_ctl_aileron_setpoint from h_ctl_roll_setpoint. More...
 
static void h_ctl_pitch_loop (void)
 
void h_ctl_init (void)
 
void h_ctl_course_loop (void)
 
void h_ctl_attitude_loop (void)
 

Variables

float h_ctl_course_setpoint
 fixed wing horizontal control More...
 
float h_ctl_course_pre_bank
 
float h_ctl_course_pre_bank_correction
 
float h_ctl_course_pgain
 
float h_ctl_course_dgain
 
float h_ctl_roll_max_setpoint
 
bool_t h_ctl_disabled
 
bool_t h_ctl_auto1_rate
 
float h_ctl_roll_setpoint
 
float h_ctl_roll_pgain
 
pprz_t h_ctl_aileron_setpoint
 
float h_ctl_roll_slew
 
float h_ctl_pitch_setpoint
 
float h_ctl_pitch_loop_setpoint
 
float h_ctl_pitch_pgain
 
float h_ctl_pitch_dgain
 
pprz_t h_ctl_elevator_setpoint
 
float h_ctl_aileron_of_throttle
 
float h_ctl_elevator_of_roll
 
float h_ctl_roll_attitude_gain
 
float h_ctl_roll_rate_gain
 

Macro Definition Documentation

#define H_CTL_COURSE_DGAIN   0.

Definition at line 105 of file stabilization_attitude.c.

Referenced by h_ctl_init().

#define H_CTL_COURSE_PRE_BANK_CORRECTION   1.

Definition at line 101 of file stabilization_attitude.c.

Referenced by h_ctl_init().

#define H_CTL_ROLL_RATE_GAIN   0.

Definition at line 109 of file stabilization_attitude.c.

Referenced by h_ctl_init().

Function Documentation

void h_ctl_attitude_loop ( void  )

Definition at line 309 of file stabilization_attitude.c.

References h_ctl_disabled, h_ctl_pitch_loop(), and h_ctl_roll_loop().

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static void h_ctl_pitch_loop ( void  )
inlinestatic
static void h_ctl_roll_loop ( void  )
inlinestatic

Computes h_ctl_aileron_setpoint from h_ctl_roll_setpoint.

Definition at line 335 of file stabilization_attitude.c.

References estimator_phi, h_ctl_aileron_of_throttle, h_ctl_aileron_setpoint, h_ctl_auto1_rate, h_ctl_roll_pgain, h_ctl_roll_setpoint, TRIM_PPRZ, and v_ctl_throttle_setpoint.

Referenced by h_ctl_attitude_loop().

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Variable Documentation

float h_ctl_aileron_of_throttle

Definition at line 75 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

pprz_t h_ctl_aileron_setpoint

Definition at line 60 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

bool_t h_ctl_auto1_rate

Definition at line 54 of file stabilization_attitude.c.

Referenced by h_ctl_roll_loop().

float h_ctl_course_dgain

Definition at line 47 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pgain

Definition at line 46 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pre_bank

Definition at line 44 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_pre_bank_correction

Definition at line 45 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_course_setpoint

fixed wing horizontal control

Definition at line 43 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

bool_t h_ctl_disabled

Definition at line 51 of file stabilization_attitude.c.

Referenced by h_ctl_attitude_loop(), and h_ctl_init().

float h_ctl_elevator_of_roll

Definition at line 76 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

pprz_t h_ctl_elevator_setpoint

Definition at line 68 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_dgain

Definition at line 67 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_loop_setpoint

Definition at line 65 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_pgain

Definition at line 66 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_pitch_setpoint

Definition at line 64 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_pitch_loop().

float h_ctl_roll_attitude_gain

Definition at line 112 of file stabilization_attitude.c.

Referenced by h_ctl_init().

float h_ctl_roll_max_setpoint

Definition at line 48 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().

float h_ctl_roll_pgain

Definition at line 59 of file stabilization_attitude.c.

Referenced by h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_rate_gain

Definition at line 113 of file stabilization_attitude.c.

Referenced by h_ctl_init().

float h_ctl_roll_setpoint

Definition at line 58 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), h_ctl_init(), and h_ctl_roll_loop().

float h_ctl_roll_slew

Definition at line 61 of file stabilization_attitude.c.

Referenced by h_ctl_course_loop(), and h_ctl_init().