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stabilization_attitude_ref_euler_float.c File Reference
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "generated/airframe.h"
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Macros

#define DT_UPDATE   (1./PERIODIC_FREQUENCY)
 
#define REF_ACCEL_MAX_P   STABILIZATION_ATTITUDE_REF_MAX_PDOT
 
#define REF_ACCEL_MAX_Q   STABILIZATION_ATTITUDE_REF_MAX_QDOT
 
#define REF_ACCEL_MAX_R   STABILIZATION_ATTITUDE_REF_MAX_RDOT
 
#define REF_RATE_MAX_P   STABILIZATION_ATTITUDE_REF_MAX_P
 
#define REF_RATE_MAX_Q   STABILIZATION_ATTITUDE_REF_MAX_Q
 
#define REF_RATE_MAX_R   STABILIZATION_ATTITUDE_REF_MAX_R
 
#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P
 
#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q
 
#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R
 
#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P
 
#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q
 
#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R
 
#define USE_REF   1
 

Functions

void stabilization_attitude_ref_init (void)
 
static void reset_psi_ref_from_body (void)
 
void stabilization_attitude_ref_enter ()
 
void stabilization_attitude_ref_update ()
 

Variables

struct FloatEulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct FloatEulers stab_att_ref_euler
 with REF_ANGLE_FRAC More...
 
struct FloatRates stab_att_ref_rate
 with REF_RATE_FRAC More...
 
struct FloatRates stab_att_ref_accel
 with REF_ACCEL_FRAC More...
 

Macro Definition Documentation

#define DT_UPDATE   (1./PERIODIC_FREQUENCY)
#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P
#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q
#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R
#define REF_ACCEL_MAX_P   STABILIZATION_ATTITUDE_REF_MAX_PDOT
#define REF_ACCEL_MAX_Q   STABILIZATION_ATTITUDE_REF_MAX_QDOT
#define REF_ACCEL_MAX_R   STABILIZATION_ATTITUDE_REF_MAX_RDOT
#define REF_RATE_MAX_P   STABILIZATION_ATTITUDE_REF_MAX_P

Definition at line 28 of file stabilization_attitude_ref_euler_float.c.

#define REF_RATE_MAX_Q   STABILIZATION_ATTITUDE_REF_MAX_Q

Definition at line 29 of file stabilization_attitude_ref_euler_float.c.

#define REF_RATE_MAX_R   STABILIZATION_ATTITUDE_REF_MAX_R

Definition at line 30 of file stabilization_attitude_ref_euler_float.c.

#define USE_REF   1

Definition at line 41 of file stabilization_attitude_ref_euler_float.c.

#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P
#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q
#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R

Function Documentation

static void reset_psi_ref_from_body ( void  )
inlinestatic

Definition at line 43 of file stabilization_attitude_ref_euler_float.c.

References FloatEulers::psi, FloatRates::r, stab_att_ref_accel, stab_att_ref_euler, stab_att_ref_rate, and stab_att_sp_euler.

Referenced by stabilization_attitude_ref_enter().

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void stabilization_attitude_ref_enter ( void  )

Definition at line 50 of file stabilization_attitude_ref_euler_float.c.

Referenced by stabilization_attitude_enter().

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void stabilization_attitude_ref_init ( void  )

Definition at line 9 of file stabilization_attitude_ref_euler_float.c.

Referenced by stabilization_attitude_init().

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void stabilization_attitude_ref_update ( void  )

Definition at line 55 of file stabilization_attitude_ref_euler_float.c.

Referenced by stabilization_attitude_run().

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Variable Documentation