Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_attitude_common_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef STABILIZATION_ATTITUDE_COMMON_FLOAT_H
30 #define STABILIZATION_ATTITUDE_COMMON_FLOAT_H
31 
33 
34 #include "generated/airframe.h"
35 
36 
38  struct FloatVect3 p;
39  struct FloatVect3 d;
40  struct FloatVect3 dd;
41  struct FloatVect3 rates_d;
42  struct FloatVect3 i;
43  struct FloatVect3 surface_p;
44  struct FloatVect3 surface_d;
45  struct FloatVect3 surface_dd;
46  struct FloatVect3 surface_i;
47 };
48 
49 extern float stabilization_att_fb_cmd[COMMANDS_NB];
50 extern float stabilization_att_ff_cmd[COMMANDS_NB];
51 
52 #endif /* STABILIZATION_ATTITUDE_COMMON_FLOAT_H */
Paparazzi floating point algebra.
float stabilization_att_ff_cmd[COMMANDS_NB]
float stabilization_att_fb_cmd[COMMANDS_NB]