stabilization_attitude_ref_quat_float.h File Reference

Rotorcraft attitude reference generation. More...

#include "generated/airframe.h"
#include "math/pprz_algebra_float.h"
#include "attitude_ref_saturate_naive.h"

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Data Structures
struct	FloatRefModel
	Attitude reference model parameters (float) More...
struct	AttRefQuatFloat
	Attitude reference models and state/output (float) More...

Macros
#define	STABILIZATION_ATTITUDE_GAIN_NB   1

Functions
void	attitude_ref_quat_float_init (struct AttRefQuatFloat *ref)
void	attitude_ref_quat_float_enter (struct AttRefQuatFloat *ref, float psi)
void	attitude_ref_quat_float_update (struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void	attitude_ref_quat_float_schedule (struct AttRefQuatFloat *ref, uint8_t idx)
void	attitude_ref_quat_float_idx_set_omega_p (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_q (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_r (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_set_omega_p (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_q (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_r (struct AttRefQuatFloat *ref, float omega)

Detailed Description

Rotorcraft attitude reference generation.

(quaternion float version)

Definition in file stabilization_attitude_ref_quat_float.h.

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Data Structure Documentation

struct FloatRefModel

Attitude reference model parameters (float)

Definition at line 29 of file stabilization_attitude_ref_euler_float.h.

Collaboration diagram for FloatRefModel:

Data Fields
struct FloatRates	omega
struct FloatRates	two_omega2	cached value of 2*omega*omega
struct FloatRates	zeta

struct AttRefQuatFloat

Attitude reference models and state/output (float)

Definition at line 50 of file stabilization_attitude_ref_quat_float.h.

Collaboration diagram for AttRefQuatFloat:

Data Fields
struct FloatRates	accel
uint8_t	cur_idx
struct FloatEulers	euler
struct FloatRefModel	model[STABILIZATION_ATTITUDE_GAIN_NB]
struct FloatQuat	quat
struct FloatRates	rate
struct FloatRefSat	saturation

Macro Definition Documentation

#define STABILIZATION_ATTITUDE_GAIN_NB   1

Definition at line 38 of file stabilization_attitude_ref_quat_float.h.

Function Documentation

void attitude_ref_quat_float_enter	(	struct AttRefQuatFloat *	ref,
		float	psi
	)

Definition at line 80 of file stabilization_attitude_ref_quat_float.c.

References reset_psi_ref().

Referenced by stabilization_attitude_enter().

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void attitude_ref_quat_float_idx_set_omega_p	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 156 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::p, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_p().

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void attitude_ref_quat_float_idx_set_omega_q	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 162 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::q, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_q().

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void attitude_ref_quat_float_idx_set_omega_r	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 168 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::r, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_r().

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void attitude_ref_quat_float_init

(

struct AttRefQuatFloat *

ref

)

Definition at line 57 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::accel, AttRefQuatFloat::cur_idx, AttRefQuatFloat::euler, FLOAT_EULERS_ZERO, float_quat_identity(), FLOAT_RATES_ZERO, FloatRefSat::max_accel, FloatRefSat::max_rate, AttRefQuatFloat::model, FloatRefModel::omega, omega_p, omega_q, omega_r, FloatRates::p, FloatRates::q, AttRefQuatFloat::quat, FloatRates::r, AttRefQuatFloat::rate, RATES_ASSIGN, AttRefQuatFloat::saturation, STABILIZATION_ATTITUDE_GAIN_NB, STABILIZATION_ATTITUDE_REF_MAX_P, STABILIZATION_ATTITUDE_REF_MAX_PDOT, STABILIZATION_ATTITUDE_REF_MAX_Q, STABILIZATION_ATTITUDE_REF_MAX_QDOT, STABILIZATION_ATTITUDE_REF_MAX_R, STABILIZATION_ATTITUDE_REF_MAX_RDOT, FloatRefModel::two_omega2, FloatRefModel::zeta, zeta_p, zeta_q, and zeta_r.

Referenced by stabilization_attitude_init().

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void attitude_ref_quat_float_schedule	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx
	)

Definition at line 193 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::cur_idx, and idx.

Referenced by stabilization_attitude_gain_schedule(), and stabilization_attitude_init().

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void attitude_ref_quat_float_set_omega_p	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 174 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_p(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_q	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 179 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_q(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_r	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 184 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_r(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_update	(	struct AttRefQuatFloat *	ref,
		struct FloatQuat *	sp_quat,
		float	dt
	)

Definition at line 86 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::accel, attitude_ref_float_saturate_naive(), AttRefQuatFloat::cur_idx, AttRefQuatFloat::euler, float_eulers_of_quat(), float_quat_comp(), float_quat_derivative(), float_quat_differential(), float_quat_inv_comp(), float_quat_normalize(), float_quat_wrap_shortest(), AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::p, FloatRates::q, AttRefQuatFloat::quat, QUAT_ADD, QUAT_COPY, QUAT_SMUL, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, AttRefQuatFloat::rate, RATES_ADD, RATES_SMUL, AttRefQuatFloat::saturation, FloatRefModel::two_omega2, and FloatRefModel::zeta.

Referenced by stabilization_attitude_run().

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