Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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stabilization_attitude_ref_quat_int.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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21 
30 #ifndef STABILIZATION_ATTITUDE_REF_QUAT_INT_H
31 #define STABILIZATION_ATTITUDE_REF_QUAT_INT_H
32 
34 
35 extern struct Int32Quat stab_att_sp_quat;
36 extern struct Int32Quat stab_att_ref_quat;
37 
39 
40 /* ref model is in float and then used to precompute ref values in int */
42 
43 struct FloatRefModel {
44  struct FloatRates omega;
45  struct FloatRates zeta;
46 };
47 
48 extern struct FloatRefModel stab_att_ref_model;
49 
54 
59 
60 #define stabilization_attitude_ref_quat_int_SetOmegaP(_val) { \
61  stabilization_attitude_ref_set_omega_p(_val); \
62  }
63 #define stabilization_attitude_ref_quat_int_SetOmegaQ(_val) { \
64  stabilization_attitude_ref_set_omega_q(_val); \
65  }
66 #define stabilization_attitude_ref_quat_int_SetOmegaR(_val) { \
67  stabilization_attitude_ref_set_omega_r(_val); \
68  }
69 
70 #define stabilization_attitude_ref_quat_int_SetZetaP(_val) { \
71  stabilization_attitude_ref_set_zeta_p(_val); \
72  }
73 #define stabilization_attitude_ref_quat_int_SetZetaQ(_val) { \
74  stabilization_attitude_ref_set_zeta_q(_val); \
75  }
76 #define stabilization_attitude_ref_quat_int_SetZetaR(_val) { \
77  stabilization_attitude_ref_set_zeta_r(_val); \
78  }
79 
80 #endif /* STABILIZATION_ATTITUDE_REF_QUAT_INT_H */
void stabilization_attitude_ref_set_zeta_p(float zeta_p)
static const float zeta_p[]
angular rates
Rotation quaternion.
void stabilization_attitude_ref_set_zeta(struct FloatRates *zeta)
void stabilization_attitude_ref_set_omega_r(float omega_r)
struct FloatRefModel stab_att_ref_model
static const float omega_r[]
void stabilization_attitude_ref_set_omega_p(float omega_p)
static const float zeta_r[]
void stabilization_attitude_ref_set_omega_q(float omega_q)
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
static const float zeta_q[]
static const float omega_q[]
Paparazzi floating point algebra.
void stabilization_attitude_ref_set_omega(struct FloatRates *omega)
struct Int32Quat stab_att_ref_quat
with INT32_QUAT_FRAC
static const float omega_p[]
void stabilization_attitude_ref_set_zeta_q(float zeta_q)
Rotorcraft attitude reference generation API.
void stabilization_attitude_ref_enter(void)
void stabilization_attitude_ref_set_zeta_r(float zeta_r)