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_ref_quat_int.c File Reference

Rotorcraft attitude reference generation. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "stabilization_attitude_ref_int.h"
+ Include dependency graph for stabilization_attitude_ref_quat_int.c:

Go to the source code of this file.

Macros

#define REF_ACCEL_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
 
#define REF_ACCEL_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
 
#define REF_ACCEL_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)
 
#define REF_RATE_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)
 
#define REF_RATE_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)
 
#define REF_RATE_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)
 
#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P
 
#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P
 
#define ZETA_OMEGA_P_RES   10
 
#define ZETA_OMEGA_P   BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)
 
#define OMEGA_2_P_RES   7
 
#define OMEGA_2_P   BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)
 
#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q
 
#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q
 
#define ZETA_OMEGA_Q_RES   10
 
#define ZETA_OMEGA_Q   BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)
 
#define OMEGA_2_Q_RES   7
 
#define OMEGA_2_Q   BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)
 
#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R
 
#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R
 
#define ZETA_OMEGA_R_RES   10
 
#define ZETA_OMEGA_R   BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)
 
#define OMEGA_2_R_RES   7
 
#define OMEGA_2_R   BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
 
#define DT_UPDATE   (1./PERIODIC_FREQUENCY)
 
#define F_UPDATE_RES   9
 

Functions

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

(quaternion int version)

Definition in file stabilization_attitude_ref_quat_int.c.

Macro Definition Documentation

#define DT_UPDATE   (1./PERIODIC_FREQUENCY)

Definition at line 120 of file stabilization_attitude_ref_quat_int.c.

#define F_UPDATE_RES   9
#define OMEGA_2_P   BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)
#define OMEGA_2_P_RES   7
#define OMEGA_2_Q   BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)
#define OMEGA_2_Q_RES   7
#define OMEGA_2_R   BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
#define OMEGA_2_R_RES   7
#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P

Definition at line 43 of file stabilization_attitude_ref_quat_int.c.

#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q

Definition at line 50 of file stabilization_attitude_ref_quat_int.c.

#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R

Definition at line 57 of file stabilization_attitude_ref_quat_int.c.

#define REF_ACCEL_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)

Definition at line 35 of file stabilization_attitude_ref_quat_int.c.

#define REF_ACCEL_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)

Definition at line 36 of file stabilization_attitude_ref_quat_int.c.

#define REF_ACCEL_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)

Definition at line 37 of file stabilization_attitude_ref_quat_int.c.

#define REF_RATE_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)

Definition at line 39 of file stabilization_attitude_ref_quat_int.c.

#define REF_RATE_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)

Definition at line 40 of file stabilization_attitude_ref_quat_int.c.

#define REF_RATE_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)

Definition at line 41 of file stabilization_attitude_ref_quat_int.c.

#define ZETA_OMEGA_P   BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)
#define ZETA_OMEGA_P_RES   10
#define ZETA_OMEGA_Q   BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)
#define ZETA_OMEGA_Q_RES   10
#define ZETA_OMEGA_R   BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)
#define ZETA_OMEGA_R_RES   10
#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P

Definition at line 44 of file stabilization_attitude_ref_quat_int.c.

#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q

Definition at line 51 of file stabilization_attitude_ref_quat_int.c.

#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R

Definition at line 58 of file stabilization_attitude_ref_quat_int.c.

Function Documentation

static void reset_psi_ref_from_body ( void  )
inlinestatic
void stabilization_attitude_ref_enter ( void  )

Variable Documentation

struct Int32RefModel stab_att_ref_model
Initial value:
= {
{STABILIZATION_ATTITUDE_REF_OMEGA_P, STABILIZATION_ATTITUDE_REF_OMEGA_Q, STABILIZATION_ATTITUDE_REF_OMEGA_R},
{STABILIZATION_ATTITUDE_REF_ZETA_P, STABILIZATION_ATTITUDE_REF_ZETA_Q, STABILIZATION_ATTITUDE_REF_ZETA_R}
}

Definition at line 72 of file stabilization_attitude_ref_quat_int.c.