Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
stabilization_attitude_quat_float.c File Reference

Quaternion attitude stabilization (floating point). More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include <stdio.h>
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "state.h"
#include "generated/airframe.h"
+ Include dependency graph for stabilization_attitude_quat_float.c:

Go to the source code of this file.

Macros

#define IERROR_SCALE   1024
 
#define GAIN_PRESCALER_FF   1
 
#define GAIN_PRESCALER_P   1
 
#define GAIN_PRESCALER_D   1
 
#define GAIN_PRESCALER_I   1
 

Functions

void stabilization_attitude_init (void)
 
void stabilization_attitude_gain_schedule (uint8_t idx)
 
void stabilization_attitude_enter (void)
 
void stabilization_attitude_set_failsafe_setpoint (void)
 
void stabilization_attitude_set_from_eulers_i (struct Int32Eulers *sp_euler)
 
static void attitude_run_ff (float ff_commands[], struct FloatAttitudeGains *gains, struct FloatRates *ref_accel)
 
static void attitude_run_fb (float fb_commands[], struct FloatAttitudeGains *gains, struct FloatQuat *att_err, struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct FloatQuat *sum_err)
 
void stabilization_attitude_run (bool_t enable_integrator)
 
void stabilization_attitude_read_rc (bool_t in_flight)
 

Variables

struct FloatAttitudeGains stabilization_gains [STABILIZATION_ATTITUDE_GAIN_NB]
 
struct FloatQuat stabilization_att_sum_err_quat
 
struct FloatEulers stabilization_att_sum_err_eulers
 
struct FloatRates last_body_rate
 
float stabilization_att_fb_cmd [COMMANDS_NB]
 
float stabilization_att_ff_cmd [COMMANDS_NB]
 
static int gain_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
 
static const float phi_pgain [] = STABILIZATION_ATTITUDE_PHI_PGAIN
 
static const float theta_pgain [] = STABILIZATION_ATTITUDE_THETA_PGAIN
 
static const float psi_pgain [] = STABILIZATION_ATTITUDE_PSI_PGAIN
 
static const float phi_dgain [] = STABILIZATION_ATTITUDE_PHI_DGAIN
 
static const float theta_dgain [] = STABILIZATION_ATTITUDE_THETA_DGAIN
 
static const float psi_dgain [] = STABILIZATION_ATTITUDE_PSI_DGAIN
 
static const float phi_igain [] = STABILIZATION_ATTITUDE_PHI_IGAIN
 
static const float theta_igain [] = STABILIZATION_ATTITUDE_THETA_IGAIN
 
static const float psi_igain [] = STABILIZATION_ATTITUDE_PSI_IGAIN
 
static const float phi_ddgain [] = STABILIZATION_ATTITUDE_PHI_DDGAIN
 
static const float theta_ddgain [] = STABILIZATION_ATTITUDE_THETA_DDGAIN
 
static const float psi_ddgain [] = STABILIZATION_ATTITUDE_PSI_DDGAIN
 
static const float phi_dgain_d [] = STABILIZATION_ATTITUDE_PHI_DGAIN_D
 
static const float theta_dgain_d [] = STABILIZATION_ATTITUDE_THETA_DGAIN_D
 
static const float psi_dgain_d [] = STABILIZATION_ATTITUDE_PSI_DGAIN_D
 

Detailed Description

Quaternion attitude stabilization (floating point).

Definition in file stabilization_attitude_quat_float.c.

Macro Definition Documentation

#define GAIN_PRESCALER_D   1

Definition at line 172 of file stabilization_attitude_quat_float.c.

Referenced by attitude_run_fb().

#define GAIN_PRESCALER_FF   1

Definition at line 152 of file stabilization_attitude_quat_float.c.

Referenced by attitude_run_ff().

#define GAIN_PRESCALER_I   1

Definition at line 175 of file stabilization_attitude_quat_float.c.

Referenced by attitude_run_fb().

#define GAIN_PRESCALER_P   1

Definition at line 169 of file stabilization_attitude_quat_float.c.

Referenced by attitude_run_fb().

#define IERROR_SCALE   1024

Definition at line 90 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_run().

Function Documentation

static void attitude_run_fb ( float  fb_commands[],
struct FloatAttitudeGains gains,
struct FloatQuat att_err,
struct FloatRates rate_err,
struct FloatRates rate_err_d,
struct FloatQuat sum_err 
)
static
static void attitude_run_ff ( float  ff_commands[],
struct FloatAttitudeGains gains,
struct FloatRates ref_accel 
)
static
void stabilization_attitude_gain_schedule ( uint8_t  idx)

Definition at line 115 of file stabilization_attitude_quat_float.c.

References gain_idx, STABILIZATION_ATTITUDE_GAIN_NB, and stabilization_attitude_ref_schedule().

+ Here is the call graph for this function:

void stabilization_attitude_read_rc ( bool_t  in_flight)

Definition at line 282 of file stabilization_attitude_quat_float.c.

References stab_att_sp_quat, and stabilization_attitude_read_rc_setpoint_quat_f().

+ Here is the call graph for this function:

void stabilization_attitude_set_failsafe_setpoint ( void  )

Definition at line 136 of file stabilization_attitude_quat_float.c.

References Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_f().

+ Here is the call graph for this function:

void stabilization_attitude_set_from_eulers_i ( struct Int32Eulers sp_euler)

Variable Documentation

struct FloatRates last_body_rate
const float phi_ddgain[] = STABILIZATION_ATTITUDE_PHI_DDGAIN
static

Definition at line 59 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float phi_dgain[] = STABILIZATION_ATTITUDE_PHI_DGAIN
static

Definition at line 51 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float phi_dgain_d[] = STABILIZATION_ATTITUDE_PHI_DGAIN_D
static

Definition at line 63 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float phi_igain[] = STABILIZATION_ATTITUDE_PHI_IGAIN
static

Definition at line 55 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float phi_pgain[] = STABILIZATION_ATTITUDE_PHI_PGAIN
static

Definition at line 47 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float psi_ddgain[] = STABILIZATION_ATTITUDE_PSI_DDGAIN
static

Definition at line 61 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float psi_dgain[] = STABILIZATION_ATTITUDE_PSI_DGAIN
static

Definition at line 53 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float psi_dgain_d[] = STABILIZATION_ATTITUDE_PSI_DGAIN_D
static

Definition at line 65 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float psi_igain[] = STABILIZATION_ATTITUDE_PSI_IGAIN
static

Definition at line 57 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float psi_pgain[] = STABILIZATION_ATTITUDE_PSI_PGAIN
static

Definition at line 49 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

float stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 42 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_run().

float stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 43 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_run().

struct FloatEulers stabilization_att_sum_err_eulers
struct FloatQuat stabilization_att_sum_err_quat
const float theta_ddgain[] = STABILIZATION_ATTITUDE_THETA_DDGAIN
static

Definition at line 60 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float theta_dgain[] = STABILIZATION_ATTITUDE_THETA_DGAIN
static

Definition at line 52 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float theta_dgain_d[] = STABILIZATION_ATTITUDE_THETA_DGAIN_D
static

Definition at line 64 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float theta_igain[] = STABILIZATION_ATTITUDE_THETA_IGAIN
static

Definition at line 56 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

const float theta_pgain[] = STABILIZATION_ATTITUDE_THETA_PGAIN
static

Definition at line 48 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().