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stabilization_attitude_ref_int.h File Reference

Rotorcraft attitude reference generation API. More...

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Data Structures

struct  Int32RefModel
 

Macros

#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)
 
#define ANGLE_REF_NORMALIZE(_a)
 

Functions

static void reset_psi_ref_from_body (void)
 

Variables

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)
Value:
{ \
while (_a > REF_ANGLE_PI) _a -= REF_ANGLE_TWO_PI; \
while (_a < -REF_ANGLE_PI) _a += REF_ANGLE_TWO_PI; \
}
#define 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  )
inlinestatic

Variable Documentation