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stabilization_attitude_ref_saturate.h
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21 
26 #ifndef STABILIZATION_ATTITUDE_REF_SATURATE_H
27 #define STABILIZATION_ATTITUDE_REF_SATURATE_H
28 
29 #define SATURATE_SPEED_TRIM_ACCEL() { \
30  if (stab_att_ref_rate.p >= REF_RATE_MAX_P) { \
31  stab_att_ref_rate.p = REF_RATE_MAX_P; \
32  if (stab_att_ref_accel.p > 0) \
33  stab_att_ref_accel.p = 0; \
34  } \
35  else if (stab_att_ref_rate.p <= -REF_RATE_MAX_P) { \
36  stab_att_ref_rate.p = -REF_RATE_MAX_P; \
37  if (stab_att_ref_accel.p < 0) \
38  stab_att_ref_accel.p = 0; \
39  } \
40  if (stab_att_ref_rate.q >= REF_RATE_MAX_Q) { \
41  stab_att_ref_rate.q = REF_RATE_MAX_Q; \
42  if (stab_att_ref_accel.q > 0) \
43  stab_att_ref_accel.q = 0; \
44  } \
45  else if (stab_att_ref_rate.q <= -REF_RATE_MAX_Q) { \
46  stab_att_ref_rate.q = -REF_RATE_MAX_Q; \
47  if (stab_att_ref_accel.q < 0) \
48  stab_att_ref_accel.q = 0; \
49  } \
50  if (stab_att_ref_rate.r >= REF_RATE_MAX_R) { \
51  stab_att_ref_rate.r = REF_RATE_MAX_R; \
52  if (stab_att_ref_accel.r > 0) \
53  stab_att_ref_accel.r = 0; \
54  } \
55  else if (stab_att_ref_rate.r <= -REF_RATE_MAX_R) { \
56  stab_att_ref_rate.r = -REF_RATE_MAX_R; \
57  if (stab_att_ref_accel.r < 0) \
58  stab_att_ref_accel.r = 0; \
59  } \
60  }
61 
62 
63 #endif /* STABILIZATION_ATTITUDE_REF_SATURATE_H */