Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
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stabilization_attitude_quat_float.h
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2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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21 
28 #ifndef STABILIZATION_ATTITUDE_QUAT_FLOAT_H
29 #define STABILIZATION_ATTITUDE_QUAT_FLOAT_H
30 
31 #include "generated/airframe.h"
34 
35 
36 #ifndef STABILIZATION_ATTITUDE_GAIN_NB
37 #define STABILIZATION_ATTITUDE_GAIN_NB 1
38 #endif
39 
40 #ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
41 #define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
42 #endif
43 
45 
46 extern struct FloatEulers stab_att_sp_euler;
47 extern struct FloatQuat stab_att_sp_quat;
48 
49 extern struct AttRefQuatFloat att_ref_quat_f;
50 
51 
53 
54 /* settings handlers */
55 #define stabilization_attitude_quat_float_SetOmegaP(_val) { \
56  attitude_ref_quat_float_set_omega_p(&att_ref_quat_f, _val); \
57  }
58 #define stabilization_attitude_quat_float_SetOmegaQ(_val) { \
59  attitude_ref_quat_float_set_omega_q(&att_ref_quat_f, _val); \
60  }
61 #define stabilization_attitude_quat_float_SetOmegaR(_val) { \
62  attitude_ref_quat_float_set_omega_r(&att_ref_quat_f, _val); \
63  }
64 
65 #endif /* STABILIZATION_ATTITUDE_QUAT_FLOAT_H */
Attitude reference models and state/output (float)
static uint32_t idx
Common data structures shared by euler and quaternion float implementations.
void stabilization_attitude_gain_schedule(uint8_t idx)
euler angles
Roation quaternion.
struct AttRefQuatFloat att_ref_quat_f
struct FloatQuat stab_att_sp_quat
with INT32_QUAT_FRAC
unsigned char uint8_t
Definition: types.h:14
Rotorcraft attitude reference generation.
struct FloatAttitudeGains stabilization_gains[]
struct FloatEulers stab_att_sp_euler
with INT32_ANGLE_FRAC