Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_ref_int.h
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2  * Copyright (C) 2008-2010 The Paparazzi Team
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4  * This file is part of paparazzi.
5  *
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14  * GNU General Public License for more details.
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21 
27 #ifndef STABILIZATION_ATTITUDE_REF_INT_H
28 #define STABILIZATION_ATTITUDE_REF_INT_H
29 
30 #include "math/pprz_algebra_int.h"
31 
32 #include "state.h"
33 
34 extern struct Int32Eulers stab_att_ref_euler;
35 extern struct Int32Quat stab_att_ref_quat;
36 extern struct Int32Rates stab_att_ref_rate;
37 extern struct Int32Rates stab_att_ref_accel;
38 
39 struct Int32RefModel {
40  struct Int32Rates omega;
41  struct Int32Rates zeta;
42 };
43 
44 extern struct Int32RefModel stab_att_ref_model;
45 
46 #define REF_ACCEL_FRAC 12
47 #define REF_RATE_FRAC 16
48 #define REF_ANGLE_FRAC 20
49 
50 #define REF_ANGLE_PI BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
51 #define REF_ANGLE_TWO_PI BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
52 #define ANGLE_REF_NORMALIZE(_a) { \
53  while (_a > REF_ANGLE_PI) _a -= REF_ANGLE_TWO_PI; \
54  while (_a < -REF_ANGLE_PI) _a += REF_ANGLE_TWO_PI; \
55  }
56 
57 extern void stabilization_attitude_ref_init(void);
58 extern void stabilization_attitude_ref_update(void);
59 
60 #endif /* STABILIZATION_ATTITUDE_REF_INT_H */
Rotation quaternion.
struct Int32Rates stab_att_ref_accel
with REF_ACCEL_FRAC
struct Int32RefModel stab_att_ref_model
void stabilization_attitude_ref_init(void)
struct Int32Eulers stab_att_ref_euler
with REF_ANGLE_FRAC
struct Int32Rates stab_att_ref_rate
with REF_RATE_FRAC
angular rates
void stabilization_attitude_ref_update(void)
struct Int32Quat stab_att_ref_quat
with INT32_QUAT_FRAC
API to get/set the generic vehicle states.
Paparazzi fixed point algebra.
euler angles