stabilization_attitude_euler_float.c File Reference

Rotorcraft attitude stabilization in euler float version. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "std.h"
#include "paparazzi.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	USE_ATT_REF   1
#define	MAX_SUM_ERR   200

Functions
static void	send_att (struct transport_tx *trans, struct link_device *dev)
static void	send_att_ref (struct transport_tx *trans, struct link_device *dev)
void	stabilization_attitude_init (void)
void	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
void	stabilization_attitude_enter (void)
void	stabilization_attitude_set_failsafe_setpoint (void)
void	stabilization_attitude_set_rpy_setpoint_i (struct Int32Eulers *rpy)
void	stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
void	stabilization_attitude_run (bool in_flight)

Variables
struct FloatAttitudeGains	stabilization_gains
struct FloatEulers	stabilization_att_sum_err
struct FloatEulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct AttRefEulerFloat	att_ref_euler_f
float	stabilization_att_fb_cmd [COMMANDS_NB]
float	stabilization_att_ff_cmd [COMMANDS_NB]

Detailed Description

Rotorcraft attitude stabilization in euler float version.

Definition in file stabilization_attitude_euler_float.c.

Macro Definition Documentation

#define MAX_SUM_ERR   200

Definition at line 174 of file stabilization_attitude_euler_float.c.

Referenced by stabilization_attitude_run().

#define USE_ATT_REF   1

Definition at line 39 of file stabilization_attitude_euler_float.c.

Function Documentation

static void send_att ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 54 of file stabilization_attitude_euler_float.c.

References foo, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, stab_att_sp_euler, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_cmd, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stabilization_attitude_init().

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static void send_att_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 80 of file stabilization_attitude_euler_float.c.

References AttRefEulerFloat::accel, att_ref_euler_f, AttRefEulerFloat::euler, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, stab_att_sp_euler, and FloatEulers::theta.

Referenced by stabilization_attitude_init().

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void stabilization_attitude_enter

(

void

)

Definition at line 136 of file stabilization_attitude_euler_float.c.

References att_ref_euler_f, attitude_ref_euler_float_enter(), FLOAT_EULERS_ZERO, FloatEulers::psi, stab_att_sp_euler, stabilization_att_sum_err, and stabilization_attitude_get_heading_f().

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void stabilization_attitude_init

(

void

)

Definition at line 98 of file stabilization_attitude_euler_float.c.

References att_ref_euler_f, attitude_ref_euler_float_init(), FloatAttitudeGains::d, FloatAttitudeGains::dd, DefaultPeriodic, FLOAT_EULERS_ZERO, FloatAttitudeGains::i, FloatAttitudeGains::p, register_periodic_telemetry(), send_att(), send_att_ref(), stabilization_att_sum_err, stabilization_gains, and VECT3_ASSIGN.

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void stabilization_attitude_read_rc	(	bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 131 of file stabilization_attitude_euler_float.c.

References stab_att_sp_euler, and stabilization_attitude_read_rc_setpoint_eulers_f().

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void stabilization_attitude_run

(

bool

in_flight

)

Definition at line 176 of file stabilization_attitude_euler_float.c.

References AttRefEulerFloat::accel, att_ref_euler_f, attitude_ref_euler_float_update(), FloatAttitudeGains::d, FloatAttitudeGains::dd, AttRefEulerFloat::euler, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_COPY, EULERS_DIFF, FLOAT_ANGLE_NORMALIZE, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, FloatAttitudeGains::i, MAX_PPRZ, MAX_SUM_ERR, FloatAttitudeGains::p, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, RATES_DIFF, stab_att_sp_euler, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_cmd, stabilization_gains, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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void stabilization_attitude_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 159 of file stabilization_attitude_euler_float.c.

References ANGLE_FLOAT_OF_BFP, FloatEulers::phi, FloatEulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_f(), FloatEulers::theta, FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

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void stabilization_attitude_set_failsafe_setpoint

(

void

)

Definition at line 147 of file stabilization_attitude_euler_float.c.

References FloatEulers::phi, FloatEulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

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void stabilization_attitude_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Definition at line 154 of file stabilization_attitude_euler_float.c.

References EULERS_FLOAT_OF_BFP, and stab_att_sp_euler.

Variable Documentation

struct AttRefEulerFloat att_ref_euler_f

Definition at line 46 of file stabilization_attitude_euler_float.c.

Referenced by send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_init(), and stabilization_attitude_run().

struct FloatEulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 45 of file stabilization_attitude_euler_float.c.

Referenced by guidance_flip_run(), guidance_hybrid_set_cmd_i(), send_att(), send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), stabilization_attitude_read_rc_setpoint_quat_f(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), and stabilization_attitude_set_rpy_setpoint_i().

float stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 48 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

float stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 49 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

struct FloatEulers stabilization_att_sum_err

Definition at line 43 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), stabilization_attitude_enter(), stabilization_attitude_init(), and stabilization_attitude_run().

struct FloatAttitudeGains stabilization_gains

Definition at line 42 of file stabilization_attitude_euler_float.c.

Referenced by stabilization_attitude_init(), and stabilization_attitude_run().