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stabilization_attitude_euler_int.c File Reference
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Macros

#define OFFSET_AND_ROUND(_a, _b)   (((_a)+(1<<((_b)-1)))>>(_b))
 
#define OFFSET_AND_ROUND2(_a, _b)   (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
 
#define MAX_SUM_ERR   4000000
 
#define CMD_SHIFT   11
 

Functions

void stabilization_attitude_init (void)
 
void stabilization_attitude_read_rc (bool_t in_flight)
 
void stabilization_attitude_enter (void)
 
void stabilization_attitude_run (bool_t in_flight)
 

Variables

struct Int32AttitudeGains stabilization_gains
 
struct Int32Eulers stabilization_att_sum_err
 
int32_t stabilization_att_fb_cmd [COMMANDS_NB]
 
int32_t stabilization_att_ff_cmd [COMMANDS_NB]
 

Macro Definition Documentation

#define CMD_SHIFT   11
#define MAX_SUM_ERR   4000000

Definition at line 100 of file stabilization_attitude_euler_int.c.

Referenced by stabilization_attitude_run().

#define OFFSET_AND_ROUND (   _a,
  _b 
)    (((_a)+(1<<((_b)-1)))>>(_b))

Definition at line 97 of file stabilization_attitude_euler_int.c.

Referenced by stabilization_attitude_run().

#define OFFSET_AND_ROUND2 (   _a,
  _b 
)    (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))

Definition at line 98 of file stabilization_attitude_euler_int.c.

Referenced by stabilization_attitude_run().

Function Documentation

void stabilization_attitude_enter ( void  )
void stabilization_attitude_init ( void  )
void stabilization_attitude_read_rc ( bool_t  in_flight)

Definition at line 81 of file stabilization_attitude_euler_int.c.

References stab_att_sp_euler, and stabilization_attitude_read_rc_setpoint_eulers().

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Variable Documentation

int32_t stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 47 of file stabilization_attitude_euler_int.c.

Referenced by stabilization_attitude_run().

int32_t stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 48 of file stabilization_attitude_euler_int.c.

Referenced by stabilization_attitude_run().

struct Int32AttitudeGains stabilization_gains