Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_ref_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21 
27 #ifndef STABILIZATION_ATTITUDE_REF_FLOAT_H
28 #define STABILIZATION_ATTITUDE_REF_FLOAT_H
29 
31 
32 extern struct FloatEulers stab_att_sp_euler;
33 extern struct FloatQuat stab_att_sp_quat;
34 extern struct FloatEulers stab_att_ref_euler;
35 extern struct FloatQuat stab_att_ref_quat;
36 extern struct FloatRates stab_att_ref_rate;
37 extern struct FloatRates stab_att_ref_accel;
38 
39 struct FloatRefModel {
40  struct FloatRates omega;
41  struct FloatRates zeta;
42 };
43 
44 extern struct FloatRefModel stab_att_ref_model[];
45 
46 extern void stabilization_attitude_ref_init(void);
47 extern void stabilization_attitude_ref_update(void);
48 
49 #endif /* STABILIZATION_ATTITUDE_REF_FLOAT_H */
angular rates
void stabilization_attitude_ref_update(void)
struct FloatQuat stab_att_ref_quat
euler angles
struct FloatRates stab_att_ref_rate
Roation quaternion.
Paparazzi floating point algebra.
struct FloatEulers stab_att_sp_euler
void stabilization_attitude_ref_init(void)
struct FloatQuat stab_att_sp_quat
struct FloatEulers stab_att_ref_euler
with REF_ANGLE_FRAC
struct FloatRates stab_att_ref_accel
struct FloatRefModel stab_att_ref_model[]