37 #include "generated/airframe.h"
39 #define TRAJ_MAX_BANK (int32_t)ANGLE_BFP_OF_REAL(GUIDANCE_H_MAX_BANK)
int32_t phi
in rad with INT32_ANGLE_FRAC
int32_t psi
in rad with INT32_ANGLE_FRAC
int32_t theta
in rad with INT32_ANGLE_FRAC
void int32_eulers_of_quat(struct Int32Eulers *e, struct Int32Quat *q)
#define INT_EULERS_ZERO(_e)
#define INT32_ANGLE_NORMALIZE(_a)
static struct Int32Eulers * stateGetNedToBodyEulers_i(void)
Get vehicle body attitude euler angles (int).
#define PPRZ_ITRIG_SIN(_s, _a)
#define PPRZ_ITRIG_COS(_c, _a)
General attitude stabilization interface for rotorcrafts.
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
struct Int32Eulers stab_sp_to_eulers_i(struct StabilizationSetpoint *sp)
General stabilization interface for rotorcrafts.
void stabilization_attitude_init(void)
stabilization_attitude_init
void stabilization_attitude_enter(void)
void stabilization_attitude_set_quat_setpoint_i(struct Int32Quat *quat)
void stabilization_attitude_set_failsafe_setpoint(void)
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
void stabilization_attitude_set_stab_sp(struct StabilizationSetpoint *sp)
void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
void stabilization_attitude_run(bool in_flight)
void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn)
Read attitude setpoint from RC as euler angles.
Read an attitude setpoint from the RC.
API to get/set the generic vehicle states.
int int32_t
Typedef defining 32 bit int type.