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stabilization_attitude_ref_euler_int.c File Reference

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

+ Include dependency graph for stabilization_attitude_ref_euler_int.c:

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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)
 
#define USE_ATTITUDE_REF   1
 explicitly define to zero to disable attitude reference generation More...
 

Functions

void stabilization_attitude_ref_init (void)
 
void stabilization_attitude_ref_update ()
 

Variables

struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct Int32Eulers stab_att_ref_euler
 with REF_ANGLE_FRAC More...
 
struct Int32Rates stab_att_ref_rate
 with REF_RATE_FRAC More...
 
struct Int32Rates stab_att_ref_accel
 with REF_ACCEL_FRAC 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; \
}

Definition at line 80 of file stabilization_attitude_ref_euler_int.c.

Referenced by stabilization_attitude_ref_update().

#define F_UPDATE   (1<<F_UPDATE_RES)

Definition at line 46 of file stabilization_attitude_ref_euler_int.c.

#define F_UPDATE_RES   9
#define OMEGA_2_P   BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)
#define OMEGA_2_P_RES   7
#define OMEGA_2_Q   BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)
#define OMEGA_2_Q_RES   7
#define OMEGA_2_R   BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
#define OMEGA_2_R_RES   7
#define OMEGA_P   STABILIZATION_ATTITUDE_REF_OMEGA_P

Definition at line 56 of file stabilization_attitude_ref_euler_int.c.

#define OMEGA_Q   STABILIZATION_ATTITUDE_REF_OMEGA_Q

Definition at line 63 of file stabilization_attitude_ref_euler_int.c.

#define OMEGA_R   STABILIZATION_ATTITUDE_REF_OMEGA_R

Definition at line 70 of file stabilization_attitude_ref_euler_int.c.

#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_ANGLE_PI   BFP_OF_REAL(3.1415926535897932384626433832795029, REF_ANGLE_FRAC)

Definition at line 78 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 79 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 52 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 53 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 54 of file stabilization_attitude_ref_euler_int.c.

#define USE_ATTITUDE_REF   1

explicitly define to zero to disable attitude reference generation

Definition at line 88 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_OMEGA_P   BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)
#define ZETA_OMEGA_P_RES   10
#define ZETA_OMEGA_Q   BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)
#define ZETA_OMEGA_Q_RES   10
#define ZETA_OMEGA_R   BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)
#define ZETA_OMEGA_R_RES   10
#define ZETA_P   STABILIZATION_ATTITUDE_REF_ZETA_P

Definition at line 57 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_Q   STABILIZATION_ATTITUDE_REF_ZETA_Q

Definition at line 64 of file stabilization_attitude_ref_euler_int.c.

#define ZETA_R   STABILIZATION_ATTITUDE_REF_ZETA_R

Definition at line 71 of file stabilization_attitude_ref_euler_int.c.

Function Documentation

void stabilization_attitude_ref_init ( void  )

Variable Documentation