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stabilization_attitude_quat_float.c File Reference

Quaternion attitude stabilization (floating point). More...

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Macros

#define IERROR_SCALE   1024
 
#define GAIN_PRESCALER_FF   1
 
#define GAIN_PRESCALER_P   1
 
#define GAIN_PRESCALER_D   1
 
#define GAIN_PRESCALER_I   1
 
#define INTEGRATOR_BOUND   1.0
 

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)
 
static void send_ahrs_ref_quat (struct transport_tx *trans, struct link_device *dev)
 
void stabilization_attitude_init (void)
 stabilization_attitude_init More...
 
void stabilization_attitude_gain_schedule (uint8_t idx)
 
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_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
 
static void attitude_run_ff (float ff_commands[], struct FloatAttitudeGains *gains, struct FloatRates *ref_accel)
 
static void attitude_run_fb (float fb_commands[], struct FloatAttitudeGains *gains, struct FloatQuat *att_err, struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct FloatQuat *sum_err)
 
void stabilization_attitude_run (bool enable_integrator)
 
void stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 

Variables

struct FloatAttitudeGains stabilization_gains [STABILIZATION_ATTITUDE_GAIN_NB]
 
struct FloatEulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct FloatQuat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
 
struct AttRefQuatFloat att_ref_quat_f
 
struct FloatQuat stabilization_att_sum_err_quat
 
struct FloatRates last_body_rate
 
struct FloatRates body_rate_d
 
float stabilization_att_fb_cmd [COMMANDS_NB]
 
float stabilization_att_ff_cmd [COMMANDS_NB]
 
static int gain_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
 
static const float phi_pgain [] = STABILIZATION_ATTITUDE_PHI_PGAIN
 
static const float theta_pgain [] = STABILIZATION_ATTITUDE_THETA_PGAIN
 
static const float psi_pgain [] = STABILIZATION_ATTITUDE_PSI_PGAIN
 
static const float phi_dgain [] = STABILIZATION_ATTITUDE_PHI_DGAIN
 
static const float theta_dgain [] = STABILIZATION_ATTITUDE_THETA_DGAIN
 
static const float psi_dgain [] = STABILIZATION_ATTITUDE_PSI_DGAIN
 
static const float phi_igain [] = STABILIZATION_ATTITUDE_PHI_IGAIN
 
static const float theta_igain [] = STABILIZATION_ATTITUDE_THETA_IGAIN
 
static const float psi_igain [] = STABILIZATION_ATTITUDE_PSI_IGAIN
 
static const float phi_ddgain [] = STABILIZATION_ATTITUDE_PHI_DDGAIN
 
static const float theta_ddgain [] = STABILIZATION_ATTITUDE_THETA_DDGAIN
 
static const float psi_ddgain [] = STABILIZATION_ATTITUDE_PSI_DDGAIN
 
static const float phi_dgain_d [] = STABILIZATION_ATTITUDE_PHI_DGAIN_D
 
static const float theta_dgain_d [] = STABILIZATION_ATTITUDE_THETA_DGAIN_D
 
static const float psi_dgain_d [] = STABILIZATION_ATTITUDE_PSI_DGAIN_D
 

Detailed Description

Quaternion attitude stabilization (floating point).

Definition in file stabilization_attitude_quat_float.c.

Macro Definition Documentation

◆ GAIN_PRESCALER_D

#define GAIN_PRESCALER_D   1

Definition at line 269 of file stabilization_attitude_quat_float.c.

◆ GAIN_PRESCALER_FF

#define GAIN_PRESCALER_FF   1

Definition at line 249 of file stabilization_attitude_quat_float.c.

◆ GAIN_PRESCALER_I

#define GAIN_PRESCALER_I   1

Definition at line 272 of file stabilization_attitude_quat_float.c.

◆ GAIN_PRESCALER_P

#define GAIN_PRESCALER_P   1

Definition at line 266 of file stabilization_attitude_quat_float.c.

◆ IERROR_SCALE

#define IERROR_SCALE   1024

Definition at line 98 of file stabilization_attitude_quat_float.c.

◆ INTEGRATOR_BOUND

#define INTEGRATOR_BOUND   1.0

Function Documentation

◆ attitude_run_fb()

static void attitude_run_fb ( float  fb_commands[],
struct FloatAttitudeGains gains,
struct FloatQuat att_err,
struct FloatRates rate_err,
struct FloatRates rate_err_d,
struct FloatQuat sum_err 
)
static

◆ attitude_run_ff()

static void attitude_run_ff ( float  ff_commands[],
struct FloatAttitudeGains gains,
struct FloatRates ref_accel 
)
static

◆ send_ahrs_ref_quat()

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

Definition at line 145 of file stabilization_attitude_quat_float.c.

References att_ref_quat_f, dev, Int32Quat::qi, AttRefQuatFloat::quat, QUAT_BFP_OF_REAL, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and stateGetNedToBodyQuat_i().

Referenced by stabilization_attitude_init().

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◆ send_att()

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

◆ send_att_ref()

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

◆ stabilization_attitude_enter()

◆ stabilization_attitude_gain_schedule()

void stabilization_attitude_gain_schedule ( uint8_t  idx)

Definition at line 196 of file stabilization_attitude_quat_float.c.

References att_ref_quat_f, attitude_ref_quat_float_schedule(), gain_idx, idx, and STABILIZATION_ATTITUDE_GAIN_NB.

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◆ stabilization_attitude_init()

◆ stabilization_attitude_read_rc()

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

◆ stabilization_attitude_run()

◆ stabilization_attitude_set_earth_cmd_i()

void stabilization_attitude_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)

Definition at line 237 of file stabilization_attitude_quat_float.c.

References ANGLE_FLOAT_OF_BFP, heading, quat_from_earth_cmd_f(), stab_att_sp_quat, FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

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◆ stabilization_attitude_set_failsafe_setpoint()

void stabilization_attitude_set_failsafe_setpoint ( void  )

Definition at line 219 of file stabilization_attitude_quat_float.c.

References FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_f().

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◆ stabilization_attitude_set_rpy_setpoint_i()

void stabilization_attitude_set_rpy_setpoint_i ( struct Int32Eulers rpy)

Definition at line 229 of file stabilization_attitude_quat_float.c.

References EULERS_FLOAT_OF_BFP, float_quat_of_eulers(), stab_att_sp_euler, and stab_att_sp_quat.

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Variable Documentation

◆ att_ref_quat_f

◆ body_rate_d

◆ gain_idx

◆ last_body_rate

struct FloatRates last_body_rate

◆ phi_ddgain

const float phi_ddgain[] = STABILIZATION_ATTITUDE_PHI_DDGAIN
static

Definition at line 67 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ phi_dgain

const float phi_dgain[] = STABILIZATION_ATTITUDE_PHI_DGAIN
static

Definition at line 59 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ phi_dgain_d

const float phi_dgain_d[] = STABILIZATION_ATTITUDE_PHI_DGAIN_D
static

Definition at line 71 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ phi_igain

const float phi_igain[] = STABILIZATION_ATTITUDE_PHI_IGAIN
static

Definition at line 63 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ phi_pgain

const float phi_pgain[] = STABILIZATION_ATTITUDE_PHI_PGAIN
static

Definition at line 55 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ psi_ddgain

const float psi_ddgain[] = STABILIZATION_ATTITUDE_PSI_DDGAIN
static

Definition at line 69 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ psi_dgain

const float psi_dgain[] = STABILIZATION_ATTITUDE_PSI_DGAIN
static

Definition at line 61 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ psi_dgain_d

const float psi_dgain_d[] = STABILIZATION_ATTITUDE_PSI_DGAIN_D
static

Definition at line 73 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ psi_igain

const float psi_igain[] = STABILIZATION_ATTITUDE_PSI_IGAIN
static

Definition at line 65 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ psi_pgain

const float psi_pgain[] = STABILIZATION_ATTITUDE_PSI_PGAIN
static

Definition at line 57 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ stab_att_sp_euler

◆ stab_att_sp_quat

◆ stabilization_att_fb_cmd

float stabilization_att_fb_cmd[COMMANDS_NB]

Definition at line 50 of file stabilization_attitude_quat_float.c.

Referenced by send_att(), and stabilization_attitude_run().

◆ stabilization_att_ff_cmd

float stabilization_att_ff_cmd[COMMANDS_NB]

Definition at line 51 of file stabilization_attitude_quat_float.c.

Referenced by send_att(), and stabilization_attitude_run().

◆ stabilization_att_sum_err_quat

struct FloatQuat stabilization_att_sum_err_quat

◆ stabilization_gains

◆ theta_ddgain

const float theta_ddgain[] = STABILIZATION_ATTITUDE_THETA_DDGAIN
static

Definition at line 68 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ theta_dgain

const float theta_dgain[] = STABILIZATION_ATTITUDE_THETA_DGAIN
static

Definition at line 60 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ theta_dgain_d

const float theta_dgain_d[] = STABILIZATION_ATTITUDE_THETA_DGAIN_D
static

Definition at line 72 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ theta_igain

const float theta_igain[] = STABILIZATION_ATTITUDE_THETA_IGAIN
static

Definition at line 64 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().

◆ theta_pgain

const float theta_pgain[] = STABILIZATION_ATTITUDE_THETA_PGAIN
static

Definition at line 56 of file stabilization_attitude_quat_float.c.

Referenced by stabilization_attitude_init().