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stabilization_attitude_ref_euler_float.h File Reference
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Macros

#define SP_MAX_PHI   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI
 
#define SP_MAX_THETA   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA
 
#define SP_MAX_R   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R
 
#define RC_UPDATE_FREQ   40.
 
#define YAW_DEADBAND_EXCEEDED()
 
#define STABILIZATION_ATTITUDE_FLOAT_READ_RC(_sp, _inflight)
 
#define STABILIZATION_ATTITUDE_FLOAT_ADD_SP(_add_sp)
 

Macro Definition Documentation

#define RC_UPDATE_FREQ   40.

Definition at line 44 of file stabilization_attitude_ref_euler_float.h.

#define SP_MAX_PHI   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI
#define SP_MAX_R   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R
#define SP_MAX_THETA   STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA
#define STABILIZATION_ATTITUDE_FLOAT_ADD_SP (   _add_sp)
Value:
{ \
struct FloatEulers add_sp_float; \
EULERS_FLOAT_OF_BFP(add_sp_float, (_add_sp)); \
EULERS_ADD(stabilization_att_sp,add_sp_float); \
FLOAT_ANGLE_NORMALIZE(stabilization_att_sp.psi); \
}
#define EULERS_ADD(_a, _b)
Definition: pprz_algebra.h:249
euler angles
#define FLOAT_ANGLE_NORMALIZE(_a)
#define EULERS_FLOAT_OF_BFP(_ef, _ei)
Definition: pprz_algebra.h:569

Definition at line 66 of file stabilization_attitude_ref_euler_float.h.

#define STABILIZATION_ATTITUDE_FLOAT_READ_RC (   _sp,
  _inflight 
)
Value:
{ \
\
_sp.phi = (radio_control.values[RADIO_ROLL] * SP_MAX_PHI / MAX_PPRZ); \
_sp.theta = (radio_control.values[RADIO_PITCH] * SP_MAX_THETA / MAX_PPRZ); \
if (_inflight) { \
_sp.psi += \
} \
} \
else { /* if not flying, use current yaw as setpoint */ \
} \
}
#define ANGLE_FLOAT_OF_BFP(_ai)
struct Ahrs ahrs
global AHRS state (fixed point version)
Definition: ahrs.c:24
#define YAW_DEADBAND_EXCEEDED()
#define RADIO_PITCH
Definition: spektrum_arch.h:42
#define FLOAT_ANGLE_NORMALIZE(_a)
struct RadioControl radio_control
Definition: radio_control.c:27
#define RADIO_YAW
Definition: spektrum_arch.h:43
struct Int32Eulers ltp_to_body_euler
Rotation from LocalTangentPlane to body frame as Euler angles.
Definition: ahrs.h:50
int32_t psi
in rad with INT32_ANGLE_FRAC
#define MAX_PPRZ
Definition: paparazzi.h:8
#define RADIO_ROLL
Definition: spektrum_arch.h:41

Definition at line 50 of file stabilization_attitude_ref_euler_float.h.

Referenced by stabilization_attitude_read_rc().

#define YAW_DEADBAND_EXCEEDED ( )
Value:
(radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \
radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
struct RadioControl radio_control
Definition: radio_control.c:27
#define RADIO_YAW
Definition: spektrum_arch.h:43

Definition at line 46 of file stabilization_attitude_ref_euler_float.h.