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Paparazzi UAS
v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
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General stabilization interface for rotorcrafts. More...
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "state.h"
Go to the source code of this file.
Variables | |
int32_t | stabilization_cmd [COMMANDS_NB] |
Stabilization commands. More... | |
General stabilization interface for rotorcrafts.
Definition in file stabilization.c.
struct StabilizationSetpoint stab_sp_from_eulers_f | ( | struct FloatEulers * | eulers | ) |
Definition at line 106 of file stabilization.c.
References MAX_PPRZ, stabilization_cmd, and update_second_order_low_pass_int().
struct StabilizationSetpoint stab_sp_from_eulers_i | ( | struct Int32Eulers * | eulers | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_ltp_f | ( | struct FloatVect2 * | vect, |
float | heading | ||
) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_ltp_i | ( | struct Int32Vect2 * | vect, |
int32_t | heading | ||
) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_f | ( | struct FloatQuat * | quat | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_i | ( | struct Int32Quat * | quat | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_rates_f | ( | struct FloatRates * | rates | ) |
Definition at line 106 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_rates_i | ( | struct Int32Rates * | rates | ) |
Definition at line 106 of file stabilization.c.
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Definition at line 57 of file stabilization.c.
References SecondOrderLowPass_int::i, init_second_order_low_pass_int(), and stabilization_cmd.
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Definition at line 57 of file stabilization.c.
struct FloatEulers stab_sp_to_eulers_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
Referenced by stabilization_attitude_set_stab_sp().
struct Int32Eulers stab_sp_to_eulers_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
Referenced by stabilization_attitude_set_stab_sp(), and stabilization_indi_set_stab_sp().
struct FloatQuat stab_sp_to_quat_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
Referenced by stabilization_attitude_set_stab_sp().
struct Int32Quat stab_sp_to_quat_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
Referenced by stabilization_attitude_set_stab_sp(), and stabilization_indi_set_stab_sp().
struct FloatRates stab_sp_to_rates_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
struct Int32Rates stab_sp_to_rates_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 106 of file stabilization.c.
void stabilization_filter_commands | ( | void | ) |
Definition at line 106 of file stabilization.c.
Referenced by guidance_h_run().
void stabilization_init | ( | void | ) |
Definition at line 57 of file stabilization.c.
int32_t stabilization_cmd[COMMANDS_NB] |
Stabilization commands.
Contains the resulting stabilization commands, regardless of whether rate or attitude is currently used. Range -MAX_PPRZ:MAX_PPRZ
Definition at line 34 of file stabilization.c.
Referenced by autopilot_check_in_flight(), autopilot_static_periodic(), autopilot_static_set_mode(), compute_accel_from_speed_sp(), ctrl_module_run(), direct_memory_logger_periodic(), draw_osd(), guidance_flip_run(), guidance_h_from_nav(), guidance_indi_enter(), guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_module_enter(), guidance_v_run(), guidance_v_thrust_adapt(), logger_control_effectiveness_periodic(), logger_file_write_row(), send_att(), send_bebop_actuators(), send_rate(), send_rotorcraft_cmd(), send_tune_hover(), send_windtunnel_meas(), stab_sp_from_eulers_f(), stab_sp_rotate_f(), stabilization_attitude_run(), stabilization_indi_rate_run(), stabilization_none_run(), stabilization_rate_run(), and vertical_ctrl_module_run().