stabilization_attitude_rc_setpoint.h File Reference

Read an attitude setpoint from the RC. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"

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Functions
void	stabilization_attitude_reset_care_free_heading (void)
	reset the heading for care-free mode to current heading More...
int32_t	stabilization_attitude_get_heading_i (void)
float	stabilization_attitude_get_heading_f (void)
void	stabilization_attitude_read_rc_setpoint_eulers (struct Int32Eulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn)
	Read attitude setpoint from RC as euler angles. More...
void	stabilization_attitude_read_rc_setpoint_eulers_f (struct FloatEulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn)
void	stabilization_attitude_read_rc_roll_pitch_quat_f (struct FloatQuat *q)
	Read roll/pitch command from RC as quaternion. More...
void	stabilization_attitude_read_rc_roll_pitch_earth_quat_f (struct FloatQuat *q)
	Read roll/pitch command from RC as quaternion. More...
void	stabilization_attitude_read_rc_setpoint_quat_f (struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)
	Read attitude setpoint from RC as quaternion Interprets the stick positions as axes. More...
void	stabilization_attitude_read_rc_setpoint_quat_earth_bound_f (struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)

Detailed Description

Read an attitude setpoint from the RC.

Definition in file stabilization_attitude_rc_setpoint.h.

Function Documentation

float stabilization_attitude_get_heading_f

(

void

)

Definition at line 150 of file stabilization_attitude_rc_setpoint.c.

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

Referenced by stabilization_attitude_enter(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stabilization_attitude_set_failsafe_setpoint().

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int32_t stabilization_attitude_get_heading_i

(

void

)

Definition at line 131 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, heading, INT32_ANGLE_PI_2, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_SIN, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by guidance_flip_enter(), stabilization_attitude_enter(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_set_failsafe_setpoint(), stabilization_indi_enter(), and stabilization_indi_set_failsafe_setpoint().

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void stabilization_attitude_read_rc_roll_pitch_earth_quat_f

(

struct FloatQuat *

q

)

Read roll/pitch command from RC as quaternion.

Both angles are are interpreted relative to to the horizontal plane (earth bound).

Parameters

[out]

q

quaternion representing the RC roll/pitch input

Definition at line 348 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, get_rc_pitch_f(), get_rc_roll_f(), FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and transition_theta_offset.

Referenced by stabilization_attitude_read_rc_setpoint_quat_earth_bound_f().

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void stabilization_attitude_read_rc_roll_pitch_quat_f

(

struct FloatQuat *

q

)

Read roll/pitch command from RC as quaternion.

Interprets the stick positions as axes.

Parameters

[out]

q

quaternion representing the RC roll/pitch input

Definition at line 332 of file stabilization_attitude_rc_setpoint.c.

References float_quat_of_orientation_vect(), get_rc_pitch_f(), get_rc_roll_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_eulers	(	struct Int32Eulers *	sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Read attitude setpoint from RC as euler angles.

Parameters

[in]	coordinated_turn	true if in horizontal mode forward
[in]	in_carefree	true if in carefree mode
[in]	in_flight	true if in flight
[out]	sp	attitude setpoint as euler angles

Definition at line 174 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, care_free_heading, COORDINATED_TURN_AIRSPEED, get_rc_pitch(), get_rc_roll(), get_rc_yaw(), get_sys_time_float(), heading, INT32_ANGLE_FRAC, INT32_ANGLE_NORMALIZE, INT_MULT_RSHIFT, last_ts, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, stabilization_attitude_get_heading_i(), stateGetNedToBodyEulers_i(), Int32Eulers::theta, THROTTLE_STICK_DOWN, and YAW_DEADBAND_EXCEEDED.

Referenced by stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_eulers_f	(	struct FloatEulers *	sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 253 of file stabilization_attitude_rc_setpoint.c.

References care_free_heading, COORDINATED_TURN_AIRSPEED, FLOAT_ANGLE_NORMALIZE, get_rc_pitch_f(), get_rc_roll_f(), get_rc_yaw_f(), get_sys_time_float(), heading, last_ts, FloatEulers::phi, FloatEulers::psi, stabilization_attitude_get_heading_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, THROTTLE_STICK_DOWN, and YAW_DEADBAND_EXCEEDED.

Referenced by guidance_h_read_rc(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f	(	struct FloatQuat *	q_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 428 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, float_quat_comp(), float_quat_normalize(), float_quat_of_axis_angle(), FloatEulers::psi, QUAT_COPY, stab_att_sp_euler, stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stateGetNedToBodyEulers_f().

Referenced by stabilization_attitude_read_rc(), and stabilization_indi_read_rc().

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void stabilization_attitude_read_rc_setpoint_quat_f	(	struct FloatQuat *	q_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Read attitude setpoint from RC as quaternion Interprets the stick positions as axes.

Parameters

[in]	coordinated_turn	true if in horizontal mode forward
[in]	in_carefree	true if in carefree mode
[in]	in_flight	true if in flight
[out]	q_sp	attitude setpoint as quaternion

Definition at line 375 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, care_free_heading, float_quat_comp(), float_quat_comp_inv(), float_quat_comp_norm_shortest(), float_quat_normalize(), float_quat_of_axis_angle(), FloatEulers::psi, QUAT_COPY, stab_att_sp_euler, stabilization_attitude_read_rc_roll_pitch_quat_f(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stateGetNedToBodyEulers_f().

Referenced by stabilization_attitude_read_rc(), and stabilization_indi_read_rc().

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void stabilization_attitude_reset_care_free_heading

(

void

)

reset the heading for care-free mode to current heading

Definition at line 123 of file stabilization_attitude_rc_setpoint.c.

References care_free_heading, FloatEulers::psi, and stateGetNedToBodyEulers_f().

Referenced by guidance_h_mode_changed().

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