28 #ifndef STABILIZATION_ATTITUDE_QUAT_FLOAT_H
29 #define STABILIZATION_ATTITUDE_QUAT_FLOAT_H
31 #include "generated/airframe.h"
36 #ifndef STABILIZATION_ATTITUDE_GAIN_NB
37 #define STABILIZATION_ATTITUDE_GAIN_NB 1
40 #ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
41 #define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
55 #define stabilization_attitude_quat_float_SetOmegaP(_val) { \
56 attitude_ref_quat_float_set_omega_p(&att_ref_quat_f, _val); \
58 #define stabilization_attitude_quat_float_SetOmegaQ(_val) { \
59 attitude_ref_quat_float_set_omega_q(&att_ref_quat_f, _val); \
61 #define stabilization_attitude_quat_float_SetOmegaR(_val) { \
62 attitude_ref_quat_float_set_omega_r(&att_ref_quat_f, _val); \
Common data structures shared by euler and quaternion float implementations.
struct FloatEulers stab_att_sp_euler
with INT32_ANGLE_FRAC
struct AttRefQuatFloat att_ref_quat_f
struct FloatAttitudeGains stabilization_gains[]
struct FloatQuat stab_att_sp_quat
with INT32_QUAT_FRAC
void stabilization_attitude_gain_schedule(uint8_t idx)
Rotorcraft attitude reference generation.
Attitude reference models and state/output (float)
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.