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stabilization_attitude_ref_euler_int.c File Reference

Rotorcraft attitude reference generation (euler int version) More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h"
#include "generated/airframe.h"
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Go to the source code of this file.

Macros

#define F_UPDATE_RES   9
 
#define F_UPDATE   (1<<F_UPDATE_RES)
 
#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 REF_ANGLE_PI   BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
 
#define REF_ANGLE_TWO_PI   BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)
 
#define ANGLE_REF_NORMALIZE(_a)
 

Functions

void attitude_ref_euler_int_init (struct AttRefEulerInt *ref)
 
void attitude_ref_euler_int_update (struct AttRefEulerInt *ref, struct Int32Eulers *sp_euler)
 Propagate reference model. More...
 

Detailed Description

Rotorcraft attitude reference generation (euler int version)

Definition in file stabilization_attitude_ref_euler_int.c.

Macro Definition Documentation

#define ANGLE_REF_NORMALIZE (   _a)
Value:
{ \
while (_a > REF_ANGLE_PI) _a -= REF_ANGLE_TWO_PI; \
while (_a < -REF_ANGLE_PI) _a += REF_ANGLE_TWO_PI; \
}
REF_ANGLE_TWO_PI
#define REF_ANGLE_TWO_PI
Definition: stabilization_attitude_ref_euler_int.c:65
REF_ANGLE_PI
#define REF_ANGLE_PI
Definition: stabilization_attitude_ref_euler_int.c:64

Definition at line 66 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define F_UPDATE   (1<<F_UPDATE_RES)

Definition at line 32 of file stabilization_attitude_ref_euler_int.c.

#define F_UPDATE_RES   9

Definition at line 31 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_P   BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)

Definition at line 47 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_P_RES   7

Definition at line 46 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_Q   BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)

Definition at line 54 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_Q_RES   7

Definition at line 53 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_R   BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)

Definition at line 61 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_2_R_RES   7

Definition at line 60 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P

Definition at line 42 of file stabilization_attitude_ref_euler_int.c.

#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q

Definition at line 49 of file stabilization_attitude_ref_euler_int.c.

#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R

Definition at line 56 of file stabilization_attitude_ref_euler_int.c.

#define REF_ACCEL_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)

Definition at line 34 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define REF_ACCEL_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)

Definition at line 35 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define REF_ACCEL_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)

Definition at line 36 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define REF_ANGLE_PI   BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 64 of file stabilization_attitude_ref_euler_int.c.

#define REF_ANGLE_TWO_PI   BFP_OF_REAL(2.*3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 65 of file stabilization_attitude_ref_euler_int.c.

#define REF_RATE_MAX_P   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)

Definition at line 38 of file stabilization_attitude_ref_euler_int.c.

#define REF_RATE_MAX_Q   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)

Definition at line 39 of file stabilization_attitude_ref_euler_int.c.

#define REF_RATE_MAX_R   BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)

Definition at line 40 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_OMEGA_P   BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)

Definition at line 45 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_OMEGA_P_RES   10

Definition at line 44 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_OMEGA_Q   BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)

Definition at line 52 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_OMEGA_Q_RES   10

Definition at line 51 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_OMEGA_R   BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)

Definition at line 59 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_OMEGA_R_RES   10

Definition at line 58 of file stabilization_attitude_ref_euler_int.c.

Referenced by attitude_ref_euler_int_update().

#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P

Definition at line 43 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q

Definition at line 50 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R

Definition at line 57 of file stabilization_attitude_ref_euler_int.c.

Function Documentation

void attitude_ref_euler_int_init ( struct AttRefEulerInt *  ref)

Definition at line 73 of file stabilization_attitude_ref_euler_int.c.

References AttRefEulerInt::accel, AttRefEulerInt::euler, INT_EULERS_ZERO, INT_RATES_ZERO, and AttRefEulerInt::rate.

Referenced by stabilization_attitude_init().

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void attitude_ref_euler_int_update ( struct AttRefEulerInt *  ref,
struct Int32Eulers *  sp_euler 
)

Propagate reference model.

FIXME: has hardcoded timestep (512Hz via fixed F_UPDATE_RES)

Definition at line 84 of file stabilization_attitude_ref_euler_int.c.

References AttRefEulerInt::accel, ANGLE_REF_NORMALIZE, AttRefEulerInt::euler, EULERS_ADD, EULERS_DIFF, F_UPDATE_RES, INT32_ANGLE_FRAC, INT32_EULERS_LSHIFT, OMEGA_2_P, OMEGA_2_P_RES, OMEGA_2_Q, OMEGA_2_Q_RES, OMEGA_2_R, OMEGA_2_R_RES, Int32Rates::p, Int32Eulers::phi, Int32Eulers::psi, Int32Rates::q, Int32Rates::r, AttRefEulerInt::rate, RATES_ADD, RATES_BOUND_BOX, RATES_SUM, REF_ACCEL_FRAC, REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R, REF_ANGLE_FRAC, REF_RATE_FRAC, Int32Eulers::theta, ZETA_OMEGA_P, ZETA_OMEGA_P_RES, ZETA_OMEGA_Q, ZETA_OMEGA_Q_RES, ZETA_OMEGA_R, and ZETA_OMEGA_R_RES.

Referenced by stabilization_attitude_run().

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