37 #include "stabilization/stabilization_attitude.h"
39 #ifndef STOP_ROLL_CMD_ANGLE
40 #define STOP_ROLL_CMD_ANGLE 25.0
42 #ifndef FIRST_THRUST_DURATION
43 #define FIRST_THRUST_DURATION 0.3
45 #ifndef FINAL_THRUST_LEVEL
46 #define FINAL_THRUST_LEVEL 6000
67 #if defined(COMMAND_ROLL) && defined(COMMAND_PITCH) && defined(COMMAND_YAW)
bool autopilot_set_mode(uint8_t new_autopilot_mode)
set autopilot mode
uint8_t autopilot_get_mode(void)
get autopilot mode
bool autopilot_in_flight(void)
get in_flight flag
Core autopilot interface common to all firmwares.
int32_t phi
in rad with INT32_ANGLE_FRAC
#define ANGLE_BFP_OF_REAL(_af)
#define BFP_OF_REAL(_vr, _frac)
static struct Int32Eulers * stateGetNedToBodyEulers_i(void)
Get vehicle body attitude euler angles (int).
#define FINAL_THRUST_LEVEL
void guidance_flip_run(void)
uint8_t autopilot_mode_old
#define STOP_ROLL_CMD_ANGLE
void guidance_flip_enter(void)
#define FIRST_THRUST_DURATION
struct Int32Vect2 flip_cmd_earth
Open Loop guidance for making a flip.
uint8_t autopilot_mode_auto2
Horizontal guidance for rotorcrafts.
void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
void stabilization_attitude_run(bool in_flight)
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
struct FloatEulers stab_att_sp_euler
with INT32_ANGLE_FRAC
int32_t stabilization_attitude_get_heading_i(void)
Read an attitude setpoint from the RC.
int int32_t
Typedef defining 32 bit int type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.