Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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General stabilization interface for rotorcrafts. More...
#include "std.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
Go to the source code of this file.
Data Structures | |
struct | StabilizationSetpoint |
Stabilization setpoint. More... | |
struct | ThrustSetpoint |
Thrust setpoint // TODO to a setpoint header Structure to store the desired thrust vector with different format. More... | |
struct | Stabilization |
Stabilization structure. More... | |
union | StabilizationSetpoint.sp |
struct | StabilizationSetpoint.sp.ltp_i |
struct | StabilizationSetpoint.sp.ltp_f |
union | StabilizationSetpoint.r_sp |
union | ThrustSetpoint.sp |
Macros | |
#define | STABILIZATION_MODE_NONE 0 |
Stabilization modes. More... | |
#define | STABILIZATION_MODE_DIRECT 1 |
#define | STABILIZATION_MODE_RATE 2 |
#define | STABILIZATION_MODE_ATTITUDE 3 |
#define | STABILIZATION_ATT_SUBMODE_HEADING 0 |
Stabilization sub-modes for attitude. More... | |
#define | STABILIZATION_ATT_SUBMODE_CARE_FREE 1 |
#define | STABILIZATION_ATT_SUBMODE_FORWARD 2 |
#define | THRUST_AXIS_X 0 |
#define | THRUST_AXIS_Y 1 |
#define | THRUST_AXIS_Z 2 |
#define | STAB_SP_SET_EULERS_ZERO(_sp) |
#define | THRUST_SP_SET_ZERO(_sp) |
Variables | |
struct Stabilization | stabilization |
General stabilization interface for rotorcrafts.
Definition in file stabilization.h.
struct Stabilization |
Stabilization structure.
Definition at line 102 of file stabilization.h.
Data Fields | ||
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uint8_t | att_submode | current attitude sub-mode |
int32_t | cmd[COMMANDS_NB] | output command vector, range from [-MAX_PPRZ:MAX_PPRZ] (store for messages) |
uint8_t | mode | current mode |
struct AttitudeRCInput | rc_in | RC input. |
struct StabilizationSetpoint | rc_sp | Keep it ? FIXME. |
struct StabilizationSetpoint | sp | current attitude setpoint (store for messages) |
float | transition_ratio | transition percentage for hybrids (0.: hover; 1.: forward) |
union StabilizationSetpoint.sp |
Definition at line 65 of file stabilization.h.
Data Fields | ||
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struct FloatEulers | eulers_f | |
struct Int32Eulers | eulers_i | |
sp | ltp_f | |
sp | ltp_i | |
struct FloatQuat | quat_f | |
struct Int32Quat | quat_i |
struct StabilizationSetpoint.sp.ltp_i |
Definition at line 70 of file stabilization.h.
Data Fields | ||
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int32_t | heading | |
struct Int32Vect2 | vect |
struct StabilizationSetpoint.sp.ltp_f |
Definition at line 71 of file stabilization.h.
Data Fields | ||
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float | heading | |
struct FloatVect2 | vect |
union StabilizationSetpoint.r_sp |
Definition at line 73 of file stabilization.h.
Data Fields | ||
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struct FloatRates | rates_f | |
struct Int32Rates | rates_i |
union ThrustSetpoint.sp |
Definition at line 91 of file stabilization.h.
Data Fields | ||
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float | th_incr_f[3] | |
int32_t | th_incr_i[3] | |
float | thrust_f[3] | |
int32_t | thrust_i[3] |
#define STAB_SP_SET_EULERS_ZERO | ( | _sp | ) |
Definition at line 176 of file stabilization.h.
#define STABILIZATION_ATT_SUBMODE_CARE_FREE 1 |
Definition at line 46 of file stabilization.h.
#define STABILIZATION_ATT_SUBMODE_FORWARD 2 |
Definition at line 47 of file stabilization.h.
#define STABILIZATION_ATT_SUBMODE_HEADING 0 |
Stabilization sub-modes for attitude.
Definition at line 45 of file stabilization.h.
#define STABILIZATION_MODE_ATTITUDE 3 |
Definition at line 41 of file stabilization.h.
#define STABILIZATION_MODE_DIRECT 1 |
Definition at line 39 of file stabilization.h.
#define STABILIZATION_MODE_NONE 0 |
Stabilization modes.
Definition at line 38 of file stabilization.h.
#define STABILIZATION_MODE_RATE 2 |
Definition at line 40 of file stabilization.h.
#define THRUST_AXIS_X 0 |
Definition at line 172 of file stabilization.h.
#define THRUST_AXIS_Y 1 |
Definition at line 173 of file stabilization.h.
#define THRUST_AXIS_Z 2 |
Definition at line 174 of file stabilization.h.
#define THRUST_SP_SET_ZERO | ( | _sp | ) |
Definition at line 184 of file stabilization.h.
struct StabilizationSetpoint stab_sp_from_eulers_f | ( | struct FloatEulers * | eulers | ) |
Definition at line 579 of file stabilization.c.
References ThrustSetpoint::format, MAX_PPRZ, ThrustSetpoint::sp, and ThrustSetpoint::type.
struct StabilizationSetpoint stab_sp_from_eulers_i | ( | struct Int32Eulers * | eulers | ) |
Definition at line 579 of file stabilization.c.
Referenced by guidance_module_run(), and vertical_ctrl_module_run().
struct StabilizationSetpoint stab_sp_from_ltp_f | ( | struct FloatVect2 * | vect, |
float | heading | ||
) |
Definition at line 579 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_ltp_i | ( | struct Int32Vect2 * | vect, |
int32_t | heading | ||
) |
Definition at line 579 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_f | ( | struct FloatQuat * | quat | ) |
Definition at line 579 of file stabilization.c.
Referenced by stabilization_attitude_reset_rc().
struct StabilizationSetpoint stab_sp_from_quat_ff_rates_f | ( | struct FloatQuat * | quat, |
struct FloatRates * | rates | ||
) |
Definition at line 579 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_quat_i | ( | struct Int32Quat * | quat | ) |
Definition at line 579 of file stabilization.c.
struct StabilizationSetpoint stab_sp_from_rates_f | ( | struct FloatRates * | rates | ) |
Definition at line 579 of file stabilization.c.
Referenced by stabilization_indi_attitude_run().
struct StabilizationSetpoint stab_sp_from_rates_i | ( | struct Int32Rates * | rates | ) |
Definition at line 579 of file stabilization.c.
struct FloatEulers stab_sp_to_eulers_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
References Stabilization::cmd, MAX_PPRZ, stabilization, and update_second_order_low_pass_int().
Referenced by stabilization_attitude_run().
struct Int32Eulers stab_sp_to_eulers_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
Referenced by reset_horizontal_vars(), stabilization_attitude_run(), and stabilization_indi_attitude_run().
struct FloatQuat stab_sp_to_quat_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
Referenced by stabilization_attitude_run(), and stabilization_indi_attitude_run().
struct Int32Quat stab_sp_to_quat_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
Referenced by stabilization_attitude_run(), and stabilization_indi_attitude_run().
struct FloatRates stab_sp_to_rates_f | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
Referenced by stabilization_indi_attitude_run(), stabilization_indi_rate_run(), and stabilization_rate_read_rc().
struct Int32Rates stab_sp_to_rates_i | ( | struct StabilizationSetpoint * | sp | ) |
Definition at line 314 of file stabilization.c.
void stabilization_filter_commands | ( | void | ) |
Command filter for vibrating airframes.
Definition at line 314 of file stabilization.c.
Referenced by stab_sp_rotate_f().
struct StabilizationSetpoint stabilization_get_failsafe_sp | ( | void | ) |
Get stabilization setpoint for failsafe.
Definition at line 242 of file stabilization.c.
Referenced by autopilot_static_periodic().
void stabilization_init | ( | void | ) |
Init function.
Definition at line 94 of file stabilization.c.
References Stabilization::att_submode, Stabilization::cmd, DefaultPeriodic, 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.
Check mode change.
Definition at line 138 of file stabilization.c.
Referenced by autopilot_static_set_mode().
void stabilization_run | ( | bool | in_flight, |
struct StabilizationSetpoint * | sp, | ||
struct ThrustSetpoint * | thrust, | ||
int32_t * | cmd | ||
) |
Call default stabilization control.
[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.
Referenced by autopilot_static_periodic(), and guidance_module_run().
struct ThrustSetpoint th_sp_from_incr_f | ( | float | th_increment, |
uint8_t | axis | ||
) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_incr_i | ( | int32_t | th_increment, |
uint8_t | axis | ||
) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_incr_vect_f | ( | float | th_increment[3] | ) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_incr_vect_i | ( | int32_t | th_increment[3] | ) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_thrust_f | ( | float | thrust, |
uint8_t | axis | ||
) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_thrust_i | ( | int32_t | thrust, |
uint8_t | axis | ||
) |
Definition at line 579 of file stabilization.c.
Referenced by guidance_module_run(), and vertical_ctrl_module_run().
struct ThrustSetpoint th_sp_from_thrust_vect_f | ( | float | thrust[3] | ) |
Definition at line 579 of file stabilization.c.
struct ThrustSetpoint th_sp_from_thrust_vect_i | ( | int32_t | thrust[3] | ) |
Definition at line 579 of file stabilization.c.
float th_sp_to_incr_f | ( | struct ThrustSetpoint * | th, |
int32_t | thrust, | ||
uint8_t | axis | ||
) |
Definition at line 579 of file stabilization.c.
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 ThrustSetpoint::format, MAX_PPRZ, ThrustSetpoint::sp, and ThrustSetpoint::type.
float th_sp_to_thrust_f | ( | struct ThrustSetpoint * | th, |
int32_t | thrust, | ||
uint8_t | axis | ||
) |
Definition at line 544 of file stabilization.c.
References ThrustSetpoint::format, MAX_PPRZ, ThrustSetpoint::sp, and ThrustSetpoint::type.
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 ThrustSetpoint::format, MAX_PPRZ, ThrustSetpoint::sp, and ThrustSetpoint::type.
Referenced by stabilization_attitude_run(), stabilization_direct_run(), stabilization_indi_rate_run(), and stabilization_rate_read_rc().
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extern |
Definition at line 1 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(), 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_module_enter(), guidance_module_run(), guidance_v_run(), ins_flow_update(), logger_control_effectiveness_periodic(), logger_file_write_row(), nav_heli_spinup_run(), nav_heli_spinup_setup(), oneloop_andi_run(), periodic_rotwing_state(), rc_cb(), reset_horizontal_vars(), rotwing_state_hover_motors_idling(), rotwing_state_periodic(), send_att(), send_bebop_actuators(), send_rate(), send_tune_hover(), send_windtunnel_meas(), stab_sp_rotate_f(), stab_sp_to_eulers_f(), stabilization_attitude_read_rc(), stabilization_attitude_reset_rc(), stabilization_init(), transition_run(), and vertical_ctrl_module_run().