stabilization_rate_indi.c File Reference

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate_indi.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	STABILIZATION_INDI_MAX_RATE   6.0
	Maximum rate you can request in RC rate mode (rad/s) More...
#define	STABILIZATION_RATE_DEADBAND_P   0
#define	STABILIZATION_RATE_DEADBAND_Q   0
#define	STABILIZATION_RATE_DEADBAND_R   200
#define	ROLL_RATE_DEADBAND_EXCEEDED()
#define	PITCH_RATE_DEADBAND_EXCEEDED()
#define	YAW_RATE_DEADBAND_EXCEEDED()

Functions
static void	send_rate (struct transport_tx *trans, struct link_device *dev)
void	stabilization_rate_init (void)
	Initialize rate controller. More...
void	stabilization_rate_enter (void)
	Reset rate controller. More...
void	stabilization_rate_read_rc (void)
	Read RC comands with roll and yaw sticks. More...
void	stabilization_rate_read_rc_switched_sticks (void)
	Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired. More...
void	stabilization_rate_run (bool in_flight)
	Run indi rate interface from the "stabilization_rate_run" function. More...

Variables
struct FloatRates	stabilization_rate_sp

Detailed Description

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur.

Definition in file stabilization_rate_indi.c.

Macro Definition Documentation

PITCH_RATE_DEADBAND_EXCEEDED

#define PITCH_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_PITCH] >  STABILIZATION_RATE_DEADBAND_Q || \
   radio_control.values[RADIO_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)

Definition at line 61 of file stabilization_rate_indi.c.

ROLL_RATE_DEADBAND_EXCEEDED

#define ROLL_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_ROLL] >  STABILIZATION_RATE_DEADBAND_P || \
   radio_control.values[RADIO_ROLL] < -STABILIZATION_RATE_DEADBAND_P)

Definition at line 57 of file stabilization_rate_indi.c.

STABILIZATION_INDI_MAX_RATE

#define STABILIZATION_INDI_MAX_RATE   6.0

Maximum rate you can request in RC rate mode (rad/s)

Definition at line 43 of file stabilization_rate_indi.c.

STABILIZATION_RATE_DEADBAND_P

#define STABILIZATION_RATE_DEADBAND_P   0

Definition at line 48 of file stabilization_rate_indi.c.

STABILIZATION_RATE_DEADBAND_Q

#define STABILIZATION_RATE_DEADBAND_Q   0

Definition at line 51 of file stabilization_rate_indi.c.

STABILIZATION_RATE_DEADBAND_R

#define STABILIZATION_RATE_DEADBAND_R   200

Definition at line 54 of file stabilization_rate_indi.c.

YAW_RATE_DEADBAND_EXCEEDED

#define YAW_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_YAW] >  STABILIZATION_RATE_DEADBAND_R || \
   radio_control.values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)

Definition at line 65 of file stabilization_rate_indi.c.

Function Documentation

send_rate()

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

static

Definition at line 73 of file stabilization_rate_indi.c.

References dev, FloatRates::p, FloatRates::q, FloatRates::r, stabilization_cmd, and stabilization_rate_sp.

Referenced by stabilization_rate_init().

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stabilization_rate_enter()

void stabilization_rate_enter

(

void

)

Reset rate controller.

Definition at line 107 of file stabilization_rate_indi.c.

References FLOAT_RATES_ZERO, stabilization_indi_enter(), and stabilization_rate_sum_err.

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stabilization_rate_init()

void stabilization_rate_init

(

void

)

Initialize rate controller.

Definition at line 95 of file stabilization_rate_indi.c.

References DefaultPeriodic, FLOAT_RATES_ZERO, RATES_ASSIGN, register_periodic_telemetry(), send_rate(), stabilization_indi_init(), stabilization_rate_gain, stabilization_rate_igain, STABILIZATION_RATE_IGAIN_P, STABILIZATION_RATE_IGAIN_Q, STABILIZATION_RATE_IGAIN_R, stabilization_rate_sp, and stabilization_rate_sum_err.

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stabilization_rate_read_rc()

void stabilization_rate_read_rc

(

void

)

Read RC comands with roll and yaw sticks.

Definition at line 115 of file stabilization_rate_indi.c.

References MAX_PPRZ, FloatRates::p, PITCH_RATE_DEADBAND_EXCEEDED, FloatRates::q, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, ROLL_RATE_DEADBAND_EXCEEDED, STABILIZATION_INDI_MAX_RATE, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

stabilization_rate_read_rc_switched_sticks()

void stabilization_rate_read_rc_switched_sticks

(

void

)

Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired.

Definition at line 140 of file stabilization_rate_indi.c.

References MAX_PPRZ, FloatRates::p, PITCH_RATE_DEADBAND_EXCEEDED, FloatRates::q, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, ROLL_RATE_DEADBAND_EXCEEDED, STABILIZATION_INDI_MAX_RATE, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

stabilization_rate_run()

void stabilization_rate_run

(

bool

in_flight

)

Run indi rate interface from the "stabilization_rate_run" function.

Definition at line 164 of file stabilization_rate_indi.c.

References FLOAT_RATES_ZERO, MAX_PPRZ, MAX_SUM_ERR, FloatRates::p, FloatRates::q, FloatRates::r, RATES_ADD, RATES_BOUND_CUBE, RATES_DIFF, RATES_SDIV, stabilization_cmd, stabilization_indi_rate_run(), stabilization_rate_fb_cmd, stabilization_rate_gain, stabilization_rate_igain, stabilization_rate_sp, stabilization_rate_sum_err, and stateGetBodyRates_f().

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Variable Documentation

stabilization_rate_sp

struct FloatRates stabilization_rate_sp

Definition at line 39 of file stabilization_rate_indi.c.

Referenced by send_rate(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and stabilization_rate_run().