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stabilization_attitude_ref_int.h File Reference

Rotorcraft attitude reference generation API. More...

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Macros

#define REF_ACCEL_FRAC   12
 
#define REF_RATE_FRAC   16
 
#define REF_ANGLE_FRAC   20
 

Functions

void stabilization_attitude_ref_init (void)
 
void stabilization_attitude_ref_update (void)
 

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 API.

Common to all fixed-point reference generators (euler and quaternion)

Definition in file stabilization_attitude_ref_int.h.

Macro Definition Documentation

#define REF_ACCEL_FRAC   12

Definition at line 32 of file stabilization_attitude_ref_int.h.

Referenced by stabilization_attitude_ref_update().

#define REF_RATE_FRAC   16

Function Documentation

void stabilization_attitude_ref_update ( void  )

Definition at line 83 of file stabilization_attitude_ref_euler_float.c.

References ANGLE_REF_NORMALIZE, DT_UPDATE, EULERS_ADD, EULERS_ASSIGN, EULERS_COPY, EULERS_DIFF, F_UPDATE_RES, FLOAT_ANGLE_NORMALIZE, FLOAT_EULERS_OF_QUAT, FLOAT_QUAT_COMP, FLOAT_QUAT_DERIVATIVE, FLOAT_QUAT_DIFFERENTIAL, FLOAT_QUAT_INV_COMP, FLOAT_QUAT_NORMALIZE, FLOAT_QUAT_WRAP_SHORTEST, FLOAT_RATES_ZERO, INT32_ANGLE_FRAC, INT32_EULERS_LSHIFT, INT32_EULERS_OF_QUAT, INT32_QUAT_DERIVATIVE, INT32_QUAT_FRAC, INT32_QUAT_INV_COMP, INT32_QUAT_NORMALIZE, INT32_QUAT_WRAP_SHORTEST, INT32_RATE_FRAC, INT_RATES_ZERO, OFFSET_AND_ROUND, FloatRefModel::omega, OMEGA_2_P, OMEGA_2_P_RES, OMEGA_2_Q, OMEGA_2_Q_RES, OMEGA_2_R, OMEGA_2_R_RES, OMEGA_P, OMEGA_Q, OMEGA_R, FloatRates::p, Int32Rates::p, FloatEulers::phi, Int32Eulers::phi, FloatEulers::psi, Int32Eulers::psi, FloatRates::q, Int32Rates::q, Int32Quat::qi, QUAT_ADD, QUAT_COPY, QUAT_SMUL, FloatQuat::qx, Int32Quat::qx, FloatQuat::qy, Int32Quat::qy, FloatQuat::qz, Int32Quat::qz, FloatRates::r, Int32Rates::r, RATES_ADD, RATES_BOUND_BOX, RATES_SMUL, RATES_SUM, REF_ACCEL_FRAC, REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R, REF_ANGLE_FRAC, ref_idx, REF_RATE_FRAC, SATURATE_SPEED_TRIM_ACCEL, stab_att_ref_accel, stab_att_ref_euler, stab_att_ref_model, stab_att_ref_quat, stab_att_ref_rate, stab_att_sp_euler, stab_att_sp_quat, FloatEulers::theta, Int32Eulers::theta, two_omega_2, TWO_OMEGA_2_RES, two_omega_squared, two_zeta_omega, TWO_ZETA_OMEGA_RES, FloatRefModel::zeta, ZETA_OMEGA_P, ZETA_OMEGA_P_RES, ZETA_OMEGA_Q, ZETA_OMEGA_Q_RES, ZETA_OMEGA_R, ZETA_OMEGA_R_RES, ZETA_P, ZETA_Q, and ZETA_R.

Referenced by stabilization_attitude_run().

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Variable Documentation