stabilization.c File Reference

General stabilization interface for rotorcrafts. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "firmwares/rotorcraft/stabilization/stabilization_direct.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "modules/radio_control/radio_control.h"
#include "modules/core/abi.h"
#include "autopilot.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_RC_ID   ABI_BROADCAST
#define	TRANSITION_TO_HOVER   false
	Transition from 0 to 100%, used for pitch offset of hybrids.
#define	TRANSITION_TO_FORWARD   true
#define	TRANSITION_TIME   3.f

Functions
static void	rc_cb (uint8_t sender_id UNUSED, struct RadioControl *rc)
static void	send_tune_hover (struct transport_tx *trans UNUSED, struct link_device *dev UNUSED)
void	stabilization_init (void)
	Init function.
static void	stabilization_attitude_reset_rc (void)
void	stabilization_mode_changed (uint8_t new_mode, uint8_t submode)
	Check mode change.
struct StabilizationSetpoint WEAK	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn, struct RadioControl *rc)
	Retrun attitude setpoint from RC as euler angles.
static void	transition_run (bool to_forward)
void	stabilization_run (bool in_flight, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Call default stabilization control.
struct StabilizationSetpoint	stabilization_get_failsafe_sp (void)
	Get stabilization setpoint for failsafe.
static struct Int32Eulers	stab_sp_rotate_i (struct Int32Vect2 *vect, int32_t heading)
static struct FloatEulers	stab_sp_rotate_f (struct FloatVect2 *vect, float heading)
void	stabilization_filter_commands (void)
	Command filter for vibrating airframes.
struct Int32Quat	stab_sp_to_quat_i (struct StabilizationSetpoint *sp)
struct FloatQuat	stab_sp_to_quat_f (struct StabilizationSetpoint *sp)
struct Int32Eulers	stab_sp_to_eulers_i (struct StabilizationSetpoint *sp)
struct FloatEulers	stab_sp_to_eulers_f (struct StabilizationSetpoint *sp)
struct Int32Rates	stab_sp_to_rates_i (struct StabilizationSetpoint *sp)
struct FloatRates	stab_sp_to_rates_f (struct StabilizationSetpoint *sp)
int32_t	th_sp_to_thrust_i (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)
float	th_sp_to_thrust_f (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)
int32_t	th_sp_to_incr_i (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)
float	th_sp_to_incr_f (struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)
struct StabilizationSetpoint	stab_sp_from_quat_i (struct Int32Quat *quat)
struct StabilizationSetpoint	stab_sp_from_quat_f (struct FloatQuat *quat)
struct StabilizationSetpoint	stab_sp_from_quat_ff_rates_f (struct FloatQuat *quat, struct FloatRates *rates)
struct StabilizationSetpoint	stab_sp_from_eulers_i (struct Int32Eulers *eulers)
struct StabilizationSetpoint	stab_sp_from_eulers_f (struct FloatEulers *eulers)
struct StabilizationSetpoint	stab_sp_from_ltp_i (struct Int32Vect2 *vect, int32_t heading)
struct StabilizationSetpoint	stab_sp_from_ltp_f (struct FloatVect2 *vect, float heading)
struct StabilizationSetpoint	stab_sp_from_rates_i (struct Int32Rates *rates)
struct StabilizationSetpoint	stab_sp_from_rates_f (struct FloatRates *rates)
struct ThrustSetpoint	th_sp_from_thrust_i (int32_t thrust, uint8_t axis)
struct ThrustSetpoint	th_sp_from_thrust_f (float thrust, uint8_t axis)
struct ThrustSetpoint	th_sp_from_incr_i (int32_t th_increment, uint8_t axis)
struct ThrustSetpoint	th_sp_from_incr_f (float th_increment, uint8_t axis)
struct ThrustSetpoint	th_sp_from_thrust_vect_i (int32_t thrust[3])
struct ThrustSetpoint	th_sp_from_thrust_vect_f (float thrust[3])
struct ThrustSetpoint	th_sp_from_incr_vect_i (int32_t th_increment[3])
struct ThrustSetpoint	th_sp_from_incr_vect_f (float th_increment[3])

Variables
struct Stabilization	stabilization
static abi_event	rc_ev
static const float	transition_increment = 1.f / (TRANSITION_TIME * PERIODIC_FREQUENCY)

Detailed Description

General stabilization interface for rotorcrafts.

Definition in file stabilization.c.

Macro Definition Documentation

STABILIZATION_RC_ID

#define STABILIZATION_RC_ID   ABI_BROADCAST

Definition at line 66 of file stabilization.c.

TRANSITION_TIME

#define TRANSITION_TIME   3.f

Definition at line 224 of file stabilization.c.

TRANSITION_TO_FORWARD

#define TRANSITION_TO_FORWARD   true

Definition at line 221 of file stabilization.c.

TRANSITION_TO_HOVER

#define TRANSITION_TO_HOVER   false

Transition from 0 to 100%, used for pitch offset of hybrids.

Definition at line 220 of file stabilization.c.

Function Documentation

rc_cb()

static void rc_cb ( uint8_t sender_id  UNUSED, struct RadioControl *  rc  )

static

Definition at line 184 of file stabilization.c.

References Stabilization::att_submode, autopilot_in_flight(), FALSE, foo, Stabilization::mode, Stabilization::rc_sp, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, STABILIZATION_ATT_SUBMODE_FORWARD, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_read_rc(), stabilization_direct_read_rc(), STABILIZATION_MODE_ATTITUDE, STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_RATE, stabilization_rate_read_rc(), and TRUE.

Referenced by stabilization_init().

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send_tune_hover()

static void send_tune_hover ( struct transport_tx *trans  UNUSED, struct link_device *dev  UNUSED  )

static

Definition at line 75 of file stabilization.c.

References Stabilization::cmd, dev, foo, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, stabilization, stateGetNedToBodyEulers_i(), and RadioControl::values.

Referenced by stabilization_init().

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stab_sp_from_eulers_f()

struct StabilizationSetpoint stab_sp_from_eulers_f

(

struct FloatEulers *

eulers

)

Definition at line 638 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_EULERS, StabilizationSetpoint::STAB_SP_FLOAT, and StabilizationSetpoint::type.

Referenced by guidance_h_from_nav(), and stabilization_get_failsafe_sp().

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stab_sp_from_eulers_i()

struct StabilizationSetpoint stab_sp_from_eulers_i

(

struct Int32Eulers *

eulers

)

Definition at line 628 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_EULERS, StabilizationSetpoint::STAB_SP_INT, and StabilizationSetpoint::type.

Referenced by guidance_module_run(), and vertical_ctrl_module_run().

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stab_sp_from_ltp_f()

struct StabilizationSetpoint stab_sp_from_ltp_f	(	struct FloatVect2 *	vect,
		float	heading
	)

Definition at line 659 of file stabilization.c.

References StabilizationSetpoint::format, heading, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_LTP, and StabilizationSetpoint::type.

stab_sp_from_ltp_i()

struct StabilizationSetpoint stab_sp_from_ltp_i	(	struct Int32Vect2 *	vect,
		int32_t	heading
	)

Definition at line 648 of file stabilization.c.

References StabilizationSetpoint::format, heading, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_LTP, and StabilizationSetpoint::type.

Referenced by guidance_pid_h_run().

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stab_sp_from_quat_f()

struct StabilizationSetpoint stab_sp_from_quat_f

(

struct FloatQuat *

quat

)

Definition at line 607 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_QUAT, and StabilizationSetpoint::type.

Referenced by guidance_h_from_nav(), guidance_indi_run(), stabilization_attitude_read_rc(), and stabilization_attitude_reset_rc().

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stab_sp_from_quat_ff_rates_f()

struct StabilizationSetpoint stab_sp_from_quat_ff_rates_f	(	struct FloatQuat *	quat,
		struct FloatRates *	rates
	)

Definition at line 617 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_QUAT_FF_RATE, and StabilizationSetpoint::type.

Referenced by guidance_indi_run().

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stab_sp_from_quat_i()

struct StabilizationSetpoint stab_sp_from_quat_i

(

struct Int32Quat *

quat

)

Definition at line 597 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_QUAT, and StabilizationSetpoint::type.

Referenced by guidance_hybrid_set_cmd_i().

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stab_sp_from_rates_f()

struct StabilizationSetpoint stab_sp_from_rates_f

(

struct FloatRates *

rates

)

Definition at line 680 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_FLOAT, StabilizationSetpoint::STAB_SP_RATES, and StabilizationSetpoint::type.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_read_rc().

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stab_sp_from_rates_i()

struct StabilizationSetpoint stab_sp_from_rates_i

(

struct Int32Rates *

rates

)

Definition at line 670 of file stabilization.c.

References StabilizationSetpoint::format, StabilizationSetpoint::r_sp, StabilizationSetpoint::sp, StabilizationSetpoint::STAB_SP_INT, StabilizationSetpoint::STAB_SP_RATES, and StabilizationSetpoint::type.

stab_sp_rotate_f()

static struct FloatEulers stab_sp_rotate_f ( struct FloatVect2 *  vect, float  heading  )

static

Definition at line 301 of file stabilization.c.

References foo, heading, FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stab_sp_to_eulers_f(), and stab_sp_to_eulers_i().

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stab_sp_rotate_i()

static struct Int32Eulers stab_sp_rotate_i ( struct Int32Vect2 *  vect, int32_t  heading  )

static

Definition at line 287 of file stabilization.c.

References foo, heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by stab_sp_to_eulers_f(), and stab_sp_to_eulers_i().

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stab_sp_to_eulers_f()

struct FloatEulers stab_sp_to_eulers_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 454 of file stabilization.c.

References EULERS_FLOAT_OF_BFP, float_eulers_of_quat(), QUAT_FLOAT_OF_BFP, stab_sp_rotate_f(), and stab_sp_rotate_i().

Referenced by stabilization_attitude_run(), and stabilization_attitude_run().

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stab_sp_to_eulers_i()

struct Int32Eulers stab_sp_to_eulers_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 415 of file stabilization.c.

References EULERS_BFP_OF_REAL, int32_eulers_of_quat(), QUAT_BFP_OF_REAL, stab_sp_rotate_f(), and stab_sp_rotate_i().

Referenced by reset_horizontal_vars(), stabilization_attitude_run(), stabilization_attitude_run(), and stabilization_indi_attitude_run().

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stab_sp_to_quat_f()

struct FloatQuat stab_sp_to_quat_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 373 of file stabilization.c.

References EULERS_FLOAT_OF_BFP, float_quat_identity(), float_quat_of_eulers(), QUAT_FLOAT_OF_BFP, quat_from_earth_cmd_f(), and quat_from_earth_cmd_i().

Referenced by stabilization_attitude_run(), and stabilization_indi_attitude_run().

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stab_sp_to_quat_i()

struct Int32Quat stab_sp_to_quat_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 331 of file stabilization.c.

References EULERS_BFP_OF_REAL, int32_quat_identity(), int32_quat_of_eulers(), QUAT_BFP_OF_REAL, quat_from_earth_cmd_f(), and quat_from_earth_cmd_i().

Referenced by stabilization_attitude_run(), stabilization_attitude_run(), and stabilization_indi_attitude_run().

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stab_sp_to_rates_f()

struct FloatRates stab_sp_to_rates_f

(

struct StabilizationSetpoint *

sp

)

Definition at line 510 of file stabilization.c.

References RATES_FLOAT_OF_BFP.

Referenced by stabilization_indi_attitude_run(), stabilization_indi_rate_run(), and stabilization_rate_run().

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stab_sp_to_rates_i()

struct Int32Rates stab_sp_to_rates_i

(

struct StabilizationSetpoint *

sp

)

Definition at line 493 of file stabilization.c.

References RATES_BFP_OF_REAL.

stabilization_attitude_read_rc()

struct StabilizationSetpoint WEAK stabilization_attitude_read_rc	(	bool	in_flight,
		bool	carefree,
		bool	coordinated_turn,
		struct RadioControl *	rc
	)

Retrun attitude setpoint from RC as euler angles.

weak function that can be re-implemeted if needed

Parameters

[in]	in_flight	true if in flight
[in]	in_carefree	true if in carefree mode
[in]	coordinated_turn	true if in horizontal mode forward
[in]	rc	pointer to radio control structure

Returns

stabilization setpoint

Definition at line 172 of file stabilization.c.

References foo, Stabilization::rc_in, AttitudeRCInput::rc_quat, stab_sp_from_quat_f(), stabilization, stabilization_attitude_read_rc_setpoint(), and stabilization_attitude_read_rc_setpoint_earth_bound().

Referenced by rc_cb().

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stabilization_attitude_reset_rc()

static void stabilization_attitude_reset_rc ( void  )

static

Definition at line 132 of file stabilization.c.

References Stabilization::rc_in, Stabilization::rc_sp, stab_sp_from_quat_f(), stabilization, stabilization_attitude_reset_rc_setpoint(), and stateGetNedToBodyQuat_f().

Referenced by stabilization_mode_changed().

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stabilization_filter_commands()

void stabilization_filter_commands

(

void

)

Command filter for vibrating airframes.

Definition at line 314 of file stabilization.c.

References Stabilization::cmd, foo, MAX_PPRZ, stabilization, and update_second_order_low_pass_int().

Referenced by stabilization_run().

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stabilization_get_failsafe_sp()

struct StabilizationSetpoint stabilization_get_failsafe_sp

(

void

)

Get stabilization setpoint for failsafe.

Definition at line 275 of file stabilization.c.

References foo, FloatEulers::phi, FloatEulers::psi, stab_sp_from_eulers_f(), and stateGetNedToBodyEulers_f().

Referenced by autopilot_static_periodic().

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stabilization_init()

void stabilization_init

(

void

)

Init function.

Definition at line 94 of file stabilization.c.

References Stabilization::att_submode, Stabilization::cmd, DefaultPeriodic, foo, SecondOrderLowPass_int::i, init_second_order_low_pass_int(), Stabilization::mode, rc_cb(), rc_ev, Stabilization::rc_in, Stabilization::rc_sp, register_periodic_telemetry(), send_tune_hover(), STAB_SP_SET_EULERS_ZERO, stabilization, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_rc_setpoint_init(), STABILIZATION_MODE_NONE, and STABILIZATION_RC_ID.

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stabilization_mode_changed()

void stabilization_mode_changed	(	uint8_t	new_mode,
		uint8_t	submode
	)

Check mode change.

Definition at line 138 of file stabilization.c.

References Stabilization::att_submode, foo, Stabilization::mode, Stabilization::rc_in, stabilization, STABILIZATION_ATT_SUBMODE_CARE_FREE, stabilization_attitude_enter(), stabilization_attitude_reset_care_free_heading(), stabilization_attitude_reset_rc(), stabilization_direct_enter(), STABILIZATION_MODE_ATTITUDE, STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_NONE, STABILIZATION_MODE_RATE, and stabilization_rate_enter().

Referenced by autopilot_static_set_mode().

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stabilization_run()

void stabilization_run	(	bool	in_flight,
		struct StabilizationSetpoint *	sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Call default stabilization control.

Parameters

[in]	in_flight	true if rotorcraft is flying
[in]	sp	pointer to the stabilization setpoint, computed in guidance or from RC
[in]	thrust	pointer to thrust setpoint computed by vertical guidance
[out]	cmd	pointer to the output command vector

Definition at line 242 of file stabilization.c.

References Stabilization::att_submode, Stabilization::mode, StabilizationSetpoint::sp, Stabilization::sp, stabilization, STABILIZATION_ATT_SUBMODE_FORWARD, stabilization_attitude_run(), stabilization_direct_run(), stabilization_filter_commands(), STABILIZATION_MODE_ATTITUDE, STABILIZATION_MODE_DIRECT, STABILIZATION_MODE_RATE, stabilization_rate_run(), transition_run(), TRANSITION_TO_FORWARD, and TRANSITION_TO_HOVER.

Referenced by autopilot_static_periodic(), and guidance_module_run().

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th_sp_from_incr_f()

struct ThrustSetpoint th_sp_from_incr_f	(	float	th_increment,
		uint8_t	axis
	)

Definition at line 720 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_INCR_SP, ThrustSetpoint::THRUST_SP_FLOAT, and ThrustSetpoint::type.

th_sp_from_incr_i()

struct ThrustSetpoint th_sp_from_incr_i	(	int32_t	th_increment,
		uint8_t	axis
	)

Definition at line 710 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_INCR_SP, ThrustSetpoint::THRUST_SP_INT, and ThrustSetpoint::type.

th_sp_from_incr_vect_f()

struct ThrustSetpoint th_sp_from_incr_vect_f

(

float

th_increment[3]

)

Definition at line 766 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_INCR_SP, ThrustSetpoint::THRUST_SP_FLOAT, and ThrustSetpoint::type.

Referenced by guidance_indi_run().

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th_sp_from_incr_vect_i()

struct ThrustSetpoint th_sp_from_incr_vect_i

(

int32_t

th_increment[3]

)

Definition at line 754 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_INCR_SP, ThrustSetpoint::THRUST_SP_INT, and ThrustSetpoint::type.

th_sp_from_thrust_f()

struct ThrustSetpoint th_sp_from_thrust_f	(	float	thrust,
		uint8_t	axis
	)

Definition at line 700 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_SP, ThrustSetpoint::THRUST_SP_FLOAT, and ThrustSetpoint::type.

th_sp_from_thrust_i()

struct ThrustSetpoint th_sp_from_thrust_i	(	int32_t	thrust,
		uint8_t	axis
	)

Definition at line 690 of file stabilization.c.

References foo, ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_SP, ThrustSetpoint::THRUST_SP_INT, and ThrustSetpoint::type.

Referenced by autopilot_static_periodic(), guidance_hybrid_vertical(), guidance_indi_run(), guidance_module_run(), guidance_pid_v_run(), guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_run(), vertical_ctrl_module_run(), and vertical_ctrl_module_run().

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th_sp_from_thrust_vect_f()

struct ThrustSetpoint th_sp_from_thrust_vect_f

(

float

thrust[3]

)

Definition at line 742 of file stabilization.c.

References ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_SP, ThrustSetpoint::THRUST_SP_FLOAT, and ThrustSetpoint::type.

th_sp_from_thrust_vect_i()

struct ThrustSetpoint th_sp_from_thrust_vect_i

(

int32_t

thrust[3]

)

Definition at line 730 of file stabilization.c.

References ThrustSetpoint::format, ThrustSetpoint::sp, ThrustSetpoint::THRUST_SP, ThrustSetpoint::THRUST_SP_INT, and ThrustSetpoint::type.

th_sp_to_incr_f()

float th_sp_to_incr_f	(	struct ThrustSetpoint *	th,
		int32_t	thrust,
		uint8_t	axis
	)

Definition at line 579 of file stabilization.c.

References foo, and MAX_PPRZ.

Referenced by stabilization_indi_rate_run().

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th_sp_to_incr_i()

int32_t th_sp_to_incr_i	(	struct ThrustSetpoint *	th,
		int32_t	thrust,
		uint8_t	axis
	)

Definition at line 562 of file stabilization.c.

References foo, and MAX_PPRZ.

th_sp_to_thrust_f()

float th_sp_to_thrust_f	(	struct ThrustSetpoint *	th,
		int32_t	thrust,
		uint8_t	axis
	)

Definition at line 544 of file stabilization.c.

References foo, and MAX_PPRZ.

th_sp_to_thrust_i()

int32_t th_sp_to_thrust_i	(	struct ThrustSetpoint *	th,
		int32_t	thrust,
		uint8_t	axis
	)

Definition at line 527 of file stabilization.c.

References foo, and MAX_PPRZ.

Referenced by guidance_hybrid_vertical(), stabilization_attitude_run(), stabilization_attitude_run(), stabilization_direct_run(), stabilization_indi_rate_run(), and stabilization_rate_run().

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transition_run()

static void transition_run ( bool  to_forward )

inlinestatic

Definition at line 229 of file stabilization.c.

References foo, Stabilization::rc_in, stabilization, transition_increment, Stabilization::transition_ratio, and AttitudeRCInput::transition_theta_offset.

Referenced by stabilization_run().

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Variable Documentation

rc_ev

abi_event rc_ev

static

Definition at line 69 of file stabilization.c.

Referenced by stabilization_init().

stabilization

struct Stabilization stabilization

Definition at line 41 of file stabilization.c.

Referenced by autopilot_check_in_flight(), autopilot_in_flight_end_detection(), autopilot_static_periodic(), autopilot_static_set_mode(), ctrl_module_run(), ctrl_module_run(), direct_memory_logger_periodic(), draw_osd(), eff_scheduling_generic_periodic(), eff_scheduling_periodic_a(), guidance_flip_run(), guidance_indi_enter(), guidance_indi_hybrid_set_wls_settings(), guidance_indi_run(), guidance_module_enter(), guidance_module_run(), guidance_pid_h_run(), guidance_v_thrust_adapt(), ins_flow_update(), logger_control_effectiveness_periodic(), logger_file_write_row(), nav_heli_spinup_run(), nav_heli_spinup_setup(), oneloop_andi_run(), rc_cb(), reset_horizontal_vars(), rotwing_state_hover_motors_idling(), rotwing_state_periodic(), send_att(), send_att(), send_att(), send_att(), send_bebop_actuators(), send_rate(), send_rate(), send_tune_hover(), send_windtunnel_meas(), stabilization_attitude_read_rc(), stabilization_attitude_reset_rc(), stabilization_filter_commands(), stabilization_init(), stabilization_mode_changed(), stabilization_run(), transition_run(), and vertical_ctrl_module_run().

transition_increment

const float transition_increment = 1.f / (TRANSITION_TIME * PERIODIC_FREQUENCY)

static

Definition at line 227 of file stabilization.c.

Referenced by transition_run().