stabilization_attitude_quat_float.h File Reference

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

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"

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Macros
#define	STABILIZATION_ATTITUDE_GAIN_NB   1
#define	STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT   0
#define	stabilization_attitude_quat_float_SetOmegaP(_val)
#define	stabilization_attitude_quat_float_SetOmegaQ(_val)
#define	stabilization_attitude_quat_float_SetOmegaR(_val)

Functions
void	stabilization_attitude_quat_float_init (void)
void	stabilization_attitude_gain_schedule (uint8_t idx)

Variables
struct FloatAttitudeGains	stabilization_gains []
struct AttRefQuatFloat	att_ref_quat_f

Detailed Description

Rotorcraft attitude stabilization in quaternion float version.

Definition in file stabilization_attitude_quat_float.h.

Macro Definition Documentation

STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT

#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT   0

Definition at line 42 of file stabilization_attitude_quat_float.h.

STABILIZATION_ATTITUDE_GAIN_NB

#define STABILIZATION_ATTITUDE_GAIN_NB   1

Definition at line 38 of file stabilization_attitude_quat_float.h.

stabilization_attitude_quat_float_SetOmegaP

#define stabilization_attitude_quat_float_SetOmegaP

(

_val

)

Value:

    {      \
    attitude_ref_quat_float_set_omega_p(&att_ref_quat_f, _val);  \
  }

Definition at line 54 of file stabilization_attitude_quat_float.h.

stabilization_attitude_quat_float_SetOmegaQ

#define stabilization_attitude_quat_float_SetOmegaQ

(

_val

)

Value:

    {      \
    attitude_ref_quat_float_set_omega_q(&att_ref_quat_f, _val);  \
  }

Definition at line 57 of file stabilization_attitude_quat_float.h.

stabilization_attitude_quat_float_SetOmegaR

#define stabilization_attitude_quat_float_SetOmegaR

(

_val

)

Value:

    {      \
    attitude_ref_quat_float_set_omega_r(&att_ref_quat_f, _val);  \
  }

Definition at line 60 of file stabilization_attitude_quat_float.h.

Function Documentation

stabilization_attitude_gain_schedule()

void stabilization_attitude_gain_schedule

(

uint8_t

idx

)

Definition at line 195 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_quat_float_init()

void stabilization_attitude_quat_float_init

(

void

)

Definition at line 161 of file stabilization_attitude_quat_float.c.

References att_ref_quat_f, attitude_ref_quat_float_init(), attitude_ref_quat_float_schedule(), body_rate_d, DefaultPeriodic, FLOAT_EULERS_ZERO, float_quat_identity(), FLOAT_RATES_ZERO, last_body_rate, p, phi_ddgain, phi_dgain, phi_dgain_d, phi_igain, phi_pgain, psi_ddgain, psi_dgain, psi_dgain_d, psi_igain, psi_pgain, register_periodic_telemetry(), send_ahrs_ref_quat(), send_att(), send_att_ref(), stab_att_sp_euler, stab_att_sp_quat, stabilization_att_sum_err_quat, STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT, STABILIZATION_ATTITUDE_GAIN_NB, stabilization_gains, theta_ddgain, theta_dgain, theta_dgain_d, theta_igain, theta_pgain, and VECT3_ASSIGN.

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Variable Documentation

att_ref_quat_f

struct AttRefQuatFloat att_ref_quat_f

extern

Definition at line 1 of file stabilization_attitude_quat_float.c.

Referenced by send_ahrs_ref_quat(), send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_gain_schedule(), stabilization_attitude_quat_float_init(), and stabilization_attitude_run().

stabilization_gains

struct FloatAttitudeGains stabilization_gains[]

extern

Definition at line 1 of file stabilization_attitude_euler_float.c.

Referenced by stabilization_attitude_euler_float_init(), stabilization_attitude_euler_int_init(), stabilization_attitude_quat_float_init(), and stabilization_attitude_run().