Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_ref_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
27 #ifndef STABILIZATION_ATTITUDE_REF_FLOAT_H
28 #define STABILIZATION_ATTITUDE_REF_FLOAT_H
29 
30 #include "generated/airframe.h"
31 
32 #include "state.h"
33 
34 extern struct FloatEulers stab_att_sp_euler;
35 extern struct FloatQuat stab_att_sp_quat;
36 extern struct FloatEulers stab_att_ref_euler;
37 extern struct FloatQuat stab_att_ref_quat;
38 extern struct FloatRates stab_att_ref_rate;
39 extern struct FloatRates stab_att_ref_accel;
40 
41 struct FloatRefModel {
42  struct FloatRates omega;
43  struct FloatRates zeta;
44 };
45 
46 extern struct FloatRefModel stab_att_ref_model[];
47 
48 extern void stabilization_attitude_ref_init(void);
49 extern void stabilization_attitude_ref_update(void);
50 
51 #endif /* STABILIZATION_ATTITUDE_REF_FLOAT_H */
angular rates
void stabilization_attitude_ref_update(void)
struct FloatQuat stab_att_ref_quat
euler angles
struct FloatRates stab_att_ref_rate
Roation quaternion.
struct FloatEulers stab_att_sp_euler
with INT32_ANGLE_FRAC
void stabilization_attitude_ref_init(void)
struct FloatQuat stab_att_sp_quat
with INT32_QUAT_FRAC
API to get/set the generic vehicle states.
struct FloatEulers stab_att_ref_euler
with REF_ANGLE_FRAC
struct FloatRates stab_att_ref_accel
struct FloatRefModel stab_att_ref_model[]