stabilization_attitude_quat_indi.c File Reference

MAVLab Delft University of Technology This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI) More...

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

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Functions
void	stabilization_attitude_enter (void)
	Attitude control enter function. More...
void	stabilization_attitude_run (bool in_flight, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Attitude control run function. More...

Detailed Description

MAVLab Delft University of Technology This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI)

This is an implementation of the publication in the journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles

This is an implementation of the publication in the journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles http://arc.aiaa.org/doi/pdf/10.2514/1.G001490

Definition in file stabilization_attitude_quat_indi.c.

Function Documentation

stabilization_attitude_enter()

void stabilization_attitude_enter

(

void

)

Attitude control enter function.

Definition at line 35 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_enter().

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stabilization_attitude_run()

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

Attitude control run function.

Parameters

[in]	in_flight	true if in flight
[in]	sp	pointer to the stabilization setpoint structure
[in]	thrust	pointer to the thrust setoint structure
[out]	cmd	pointer to the output command vector

Definition at line 40 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_attitude_run().

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