stabilization_attitude_euler_float.c File Reference

Rotorcraft attitude stabilization in euler float version. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "std.h"
#include "paparazzi.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	USE_ATT_REF   1
#define	MAX_SUM_ERR   200

Functions
static void	send_att (struct transport_tx *trans, struct link_device *dev)
static void	send_att_ref (struct transport_tx *trans, struct link_device *dev)
void	stabilization_attitude_init (void)
void	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
void	stabilization_attitude_enter (void)
void	stabilization_attitude_set_failsafe_setpoint (void)
void	stabilization_attitude_set_rpy_setpoint_i (struct Int32Eulers *rpy)
void	stabilization_attitude_set_quat_setpoint_i (struct Int32Quat *quat)
void	stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
void	stabilization_attitude_set_stab_sp (struct StabilizationSetpoint *sp)
void	stabilization_attitude_run (bool in_flight)

Variables
struct FloatAttitudeGains	stabilization_gains
struct FloatEulers	stabilization_att_sum_err
struct FloatEulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct AttRefEulerFloat	att_ref_euler_f
float	stabilization_att_fb_cmd [COMMANDS_NB]
float	stabilization_att_ff_cmd [COMMANDS_NB]

Detailed Description

Rotorcraft attitude stabilization in euler float version.

Definition in file stabilization_attitude_euler_float.c.

Macro Definition Documentation

MAX_SUM_ERR

#define MAX_SUM_ERR   200

Definition at line 186 of file stabilization_attitude_euler_float.c.

USE_ATT_REF

#define USE_ATT_REF   1

Definition at line 39 of file stabilization_attitude_euler_float.c.

Function Documentation

send_att()

static void send_att ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 54 of file stabilization_attitude_euler_float.c.

References dev, foo, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, stab_att_sp_euler, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_cmd, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stabilization_attitude_init().

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send_att_ref()

static void send_att_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 80 of file stabilization_attitude_euler_float.c.

References AttRefEulerFloat::accel, att_ref_euler_f, dev, AttRefEulerFloat::euler, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, stab_att_sp_euler, and FloatEulers::theta.

Referenced by stabilization_attitude_init().

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stabilization_attitude_enter()

void stabilization_attitude_enter

(

void

)

Definition at line 136 of file stabilization_attitude_euler_float.c.

stabilization_attitude_init()

void stabilization_attitude_init

(

void

)

Definition at line 98 of file stabilization_attitude_euler_float.c.

stabilization_attitude_read_rc()

void stabilization_attitude_read_rc	(	bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 131 of file stabilization_attitude_euler_float.c.

stabilization_attitude_run()

void stabilization_attitude_run

(

bool

in_flight

)

Definition at line 188 of file stabilization_attitude_euler_float.c.

stabilization_attitude_set_earth_cmd_i()

void stabilization_attitude_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 166 of file stabilization_attitude_euler_float.c.

stabilization_attitude_set_failsafe_setpoint()

void stabilization_attitude_set_failsafe_setpoint

(

void

)

Definition at line 147 of file stabilization_attitude_euler_float.c.

stabilization_attitude_set_quat_setpoint_i()

void stabilization_attitude_set_quat_setpoint_i

(

struct Int32Quat *

quat

)

Definition at line 159 of file stabilization_attitude_euler_float.c.

stabilization_attitude_set_rpy_setpoint_i()

void stabilization_attitude_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Definition at line 154 of file stabilization_attitude_euler_float.c.

stabilization_attitude_set_stab_sp()

void stabilization_attitude_set_stab_sp

(

struct StabilizationSetpoint *

sp

)

Definition at line 181 of file stabilization_attitude_euler_float.c.

Variable Documentation

att_ref_euler_f

struct AttRefEulerFloat att_ref_euler_f

Definition at line 1 of file stabilization_attitude_euler_float.c.

Referenced by send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_init(), and stabilization_attitude_run().

stab_att_sp_euler

struct FloatEulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 1 of file stabilization_attitude_euler_float.c.

Referenced by guidance_flip_run(), ins_ekf2_publish_attitude(), send_att(), send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), stabilization_attitude_read_rc_setpoint_quat_f(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), stabilization_attitude_set_quat_setpoint_i(), stabilization_attitude_set_rpy_setpoint_i(), and stabilization_attitude_set_stab_sp().

stabilization_att_fb_cmd

float stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 48 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

stabilization_att_ff_cmd

float stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 49 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), and stabilization_attitude_run().

stabilization_att_sum_err

struct FloatEulers stabilization_att_sum_err

Definition at line 1 of file stabilization_attitude_euler_float.c.

Referenced by send_att(), stabilization_attitude_enter(), stabilization_attitude_init(), and stabilization_attitude_run().

stabilization_gains

struct FloatAttitudeGains stabilization_gains

Definition at line 1 of file stabilization_attitude_euler_float.c.

Referenced by stabilization_attitude_init(), and stabilization_attitude_run().