stabilization_attitude_plane_pid.h File Reference

Basic fixed-wing attitude stabilization in euler float version. More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"

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Data Structures
struct	PlaneAttitudeGains

Functions
void	stabilization_attitude_plane_pid_init (void)
void	stabilization_attitude_plane_pid_enter (void)
void	stabilization_attitude_plane_pid_run (bool in_flight, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)

Variables
struct PlaneAttitudeGains	stab_plane_gains
struct FloatEulers	stab_plane_att_sum_err

Detailed Description

Basic fixed-wing attitude stabilization in euler float version.

Definition in file stabilization_attitude_plane_pid.h.

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Data Structure Documentation

PlaneAttitudeGains

struct PlaneAttitudeGains

Definition at line 32 of file stabilization_attitude_plane_pid.h.

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Data Fields
struct FloatVect3	d
struct FloatVect3	i
struct FloatVect3	p

Function Documentation

stabilization_attitude_plane_pid_enter()

void stabilization_attitude_plane_pid_enter ( void  )

extern

Definition at line 95 of file stabilization_attitude_plane_pid.c.

References FLOAT_EULERS_ZERO, and stab_plane_att_sum_err.

Referenced by control_mixing_heewing_attitude_plane_enter().

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stabilization_attitude_plane_pid_init()

void stabilization_attitude_plane_pid_init ( void  )

extern

Definition at line 71 of file stabilization_attitude_plane_pid.c.

References PlaneAttitudeGains::d, DefaultPeriodic, FLOAT_EULERS_ZERO, foo, PlaneAttitudeGains::i, PlaneAttitudeGains::p, register_periodic_telemetry(), send_att(), stab_plane_att_sum_err, stab_plane_gains, and VECT3_ASSIGN.

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stabilization_attitude_plane_pid_run()

void stabilization_attitude_plane_pid_run ( bool  in_flight, struct StabilizationSetpoint *  sp, struct ThrustSetpoint *  thrust, int32_t *  cmd  )

extern

Definition at line 102 of file stabilization_attitude_plane_pid.c.

References PlaneAttitudeGains::d, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_DIFF, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, foo, PlaneAttitudeGains::i, MAX_PPRZ, MAX_SUM_ERR, PlaneAttitudeGains::p, FloatEulers::phi, RATES_DIFF, stab_att_sp_euler, stab_plane_att_cmd, stab_plane_att_sum_err, stab_plane_gains, stab_sp_to_eulers_f(), stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), th_sp_to_thrust_i(), FloatEulers::theta, THRUST_AXIS_X, FloatVect3::x, and FloatVect3::y.

Referenced by control_mixing_heewing_attitude_plane(), and control_mixing_heewing_nav_run().

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Variable Documentation

stab_plane_att_sum_err

struct FloatEulers stab_plane_att_sum_err

extern

Definition at line 37 of file stabilization_attitude_plane_pid.c.

Referenced by send_att(), stabilization_attitude_plane_pid_enter(), stabilization_attitude_plane_pid_init(), and stabilization_attitude_plane_pid_run().

stab_plane_gains

struct PlaneAttitudeGains stab_plane_gains

extern

Definition at line 36 of file stabilization_attitude_plane_pid.c.

Referenced by stabilization_attitude_plane_pid_init(), and stabilization_attitude_plane_pid_run().