#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "math/pprz_algebra_float.h"
#include "state.h"
#include "generated/airframe.h"
#include "modules/radio_control/radio_control.h"
#include "modules/actuators/actuators.h"
#include "modules/core/abi.h"
#include "filters/low_pass_filter.h"
#include "math/wls/wls_alloc.h"
#include <stdio.h>
#include "modules/datalink/telemetry.h"

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Macros
#define	INDI_ALLOWED_G_FACTOR 2.0

#define	STABILIZATION_INDI_FILT_CUTOFF_P 20.0

#define	STABILIZATION_INDI_FILT_CUTOFF_Q 20.0

#define	STABILIZATION_INDI_FILT_CUTOFF_R 20.0

#define	STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE FALSE

#define	STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER FALSE

#define	STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD 8.0

Functions
static void	lms_estimation (void)
	Function that estimates the control effectiveness of each actuator online.

static void	get_actuator_state (void)
	Function that tries to get actuator feedback.

static void	calc_g1_element (float dx_error, int8_t i, int8_t j, float mu_extra)

static void	calc_g2_element (float dx_error, int8_t j, float mu_extra)

static void	bound_g_mat (void)

void	init_filters (void)
	Function that resets the filters to zeros.

void	sum_g1_g2 (void)
	Function that sums g1 and g2 to obtain the g1g2 matrix It also undoes the scaling that was done to make the values readable.

static void	send_wls_v_stab (struct transport_tx trans, struct link_device dev)

static void	send_wls_u_stab (struct transport_tx trans, struct link_device dev)

static void	send_eff_mat_g_indi (struct transport_tx trans, struct link_device dev)

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

static void	send_att_full_indi (struct transport_tx trans, struct link_device dev)

void	stabilization_indi_init (void)
	Function that initializes important values upon engaging INDI.

void	stabilization_indi_enter (void)
	Function that resets important values upon engaging INDI.

void	stabilization_indi_update_filt_freq (float freq)

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

void WEAK	stabilization_indi_set_wls_settings (void)
	Function that sets the u_min, u_max and u_pref if function not elsewhere defined.

void	stabilization_indi_attitude_run (bool in_flight, struct StabilizationSetpoint att_sp, struct ThrustSetpoint thrust, int32_t *cmd)

Variables
struct WLS_t	wls_stab_p

float	indi_v [INDI_OUTPUTS]

float *	Bwls [INDI_OUTPUTS]

int32_t	stabilization_att_indi_cmd [COMMANDS_NB]

struct Indi_gains	indi_gains

bool	indi_use_adaptive = false

bool	act_is_servo [INDI_NUM_ACT] = {0}

bool	act_is_thruster_x [INDI_NUM_ACT] = {0}

bool	act_is_thruster_z [INDI_NUM_ACT]

float	act_pref [INDI_NUM_ACT] = {0.0}

float	act_first_order_cutoff [INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ

float	act_dyn_discrete [INDI_NUM_ACT]

float	stablization_indi_yaw_dist_limit = 99999.f
	Limit the maximum specific moment that can be compensated (units rad/s^2)

float	actuator_state_filt_vect [INDI_NUM_ACT]

struct FloatRates	angular_accel_ref = {0., 0., 0.}

struct FloatRates	angular_rate_ref = {0., 0., 0.}

float	angular_acceleration [3] = {0., 0., 0.}

float	actuator_state [INDI_NUM_ACT]

float	indi_u [INDI_NUM_ACT]

float	q_filt = 0.0

float	r_filt = 0.0

float	stabilization_indi_filter_freq = 20.0

float	g1g2_trans_mult [INDI_OUTPUTS][INDI_OUTPUTS]

float	g1g2inv [INDI_OUTPUTS][INDI_OUTPUTS]

float	actuator_state_filt_vectd [INDI_NUM_ACT]

float	actuator_state_filt_vectdd [INDI_NUM_ACT]

float	estimation_rate_d [INDI_NUM_ACT]

float	estimation_rate_dd [INDI_NUM_ACT]

float	du_estimation [INDI_NUM_ACT]

float	ddu_estimation [INDI_NUM_ACT]

float	mu1 [INDI_OUTPUTS] = {0.00001, 0.00001, 0.000003, 0.000002}

float	mu2 = 0.002

float	act_obs [INDI_NUM_ACT]

int32_t	num_thrusters

int32_t	num_thrusters_x

static struct Int32Eulers	stab_att_sp_euler

static struct Int32Quat	stab_att_sp_quat

float	g1g2_pseudo_inv [INDI_NUM_ACT][INDI_OUTPUTS]

float	g2 [INDI_NUM_ACT] = STABILIZATION_INDI_G2

float	g1 [INDI_OUTPUTS][INDI_NUM_ACT]

float	g1g2 [INDI_OUTPUTS][INDI_NUM_ACT]

float	g1_est [INDI_OUTPUTS][INDI_NUM_ACT]

float	g2_est [INDI_NUM_ACT]

float	g1_init [INDI_OUTPUTS][INDI_NUM_ACT]

float	g2_init [INDI_NUM_ACT]

Butterworth2LowPass	actuator_lowpass_filters [INDI_NUM_ACT]

Butterworth2LowPass	estimation_input_lowpass_filters [INDI_NUM_ACT]

Butterworth2LowPass	measurement_lowpass_filters [3]

Butterworth2LowPass	estimation_output_lowpass_filters [3]

Butterworth2LowPass	acceleration_lowpass_filter

Butterworth2LowPass	acceleration_body_x_filter

static struct FirstOrderLowPass	rates_filt_fo [3]

struct FloatVect3	body_accel_f

Macro Definition Documentation

◆ INDI_ALLOWED_G_FACTOR

#define INDI_ALLOWED_G_FACTOR 2.0

Definition at line 48 of file stabilization_indi.c.

◆ STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE

#define STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE FALSE

Definition at line 70 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_P

#define STABILIZATION_INDI_FILT_CUTOFF_P 20.0

Definition at line 53 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_Q

#define STABILIZATION_INDI_FILT_CUTOFF_Q 20.0

Definition at line 59 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_R

#define STABILIZATION_INDI_FILT_CUTOFF_R 20.0

Definition at line 65 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER

#define STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER FALSE

Definition at line 74 of file stabilization_indi.c.

◆ STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD

#define STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD 8.0

Definition at line 80 of file stabilization_indi.c.

Function Documentation

◆ bound_g_mat()

static void bound_g_mat ( void )

static

Definition at line 1041 of file stabilization_indi.c.

References foo, g1_est, g1_init, g2_est, g2_init, and INDI_ALLOWED_G_FACTOR.

Referenced by lms_estimation().

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◆ calc_g1_element()

void calc_g1_element	(	float	ddx_error,
		int8_t	i,
		int8_t	j,
		float	mu
	)

static

Parameters

ddx_error	error in output change
i	row of the matrix element
j	column of the matrix element
mu	learning rate

Function that calculates an element of the G1 matrix. The elements are stored in a different matrix, because the old matrix is necessary to caclulate more elements.

Definition at line 857 of file stabilization_indi.c.

References du_estimation, foo, g1_est, and mu.

Referenced by lms_estimation().

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◆ calc_g2_element()

void calc_g2_element	(	float	ddx_error,
		int8_t	j,
		float	mu
	)

static

Parameters

ddx_error	error in output change
j	column of the matrix element
mu	learning rate

Function that calculates an element of the G2 matrix. The elements are stored in a different matrix, because the old matrix is necessary to caclulate more elements.

Definition at line 871 of file stabilization_indi.c.

References ddu_estimation, foo, g2_est, and mu.

Referenced by lms_estimation().

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◆ get_actuator_state()

void get_actuator_state ( void )

static

Function that tries to get actuator feedback.

If this is not available it will use a first order filter to approximate the actuator state. It is also possible to model rate limits (unit: PPRZ/loop cycle)

Definition at line 821 of file stabilization_indi.c.

References act_dyn_discrete, act_obs, actuator_state, float_vect_copy(), foo, indi_u, and UNUSED.

Referenced by stabilization_indi_rate_run().

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◆ init_filters()

void init_filters ( void )

Function that resets the filters to zeros.

Definition at line 470 of file stabilization_indi.c.

References acceleration_body_x_filter, acceleration_lowpass_filter, actuator_lowpass_filters, estimation_input_lowpass_filters, estimation_output_lowpass_filters, foo, init_butterworth_2_low_pass(), init_first_order_low_pass(), measurement_lowpass_filters, p, rates_filt_fo, STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF_P, STABILIZATION_INDI_FILT_CUTOFF_Q, STABILIZATION_INDI_FILT_CUTOFF_R, and stateGetBodyRates_f().

Referenced by stabilization_indi_init().

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◆ lms_estimation()

void lms_estimation ( void )

static

Function that estimates the control effectiveness of each actuator online.

It is assumed that disturbances do not play a large role. All elements of the G1 and G2 matrices are be estimated.

Definition at line 881 of file stabilization_indi.c.

References acceleration_lowpass_filter, ACCELS_FLOAT_OF_BFP, actuator_state_filt_vectd, actuator_state_filt_vectdd, body_accel_f, bound_g_mat(), calc_g1_element(), calc_g2_element(), ddu_estimation, du_estimation, estimation_rate_dd, float_vect_copy(), float_vect_smul(), foo, g1, g1_est, g2, g2_est, mu1, mu2, SecondOrderLowPass::o, stateGetAccelBody_i(), sum_g1_g2(), update_butterworth_2_low_pass(), and FloatVect3::z.

Referenced by stabilization_indi_rate_run().

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◆ send_ahrs_ref_quat()

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

static

Definition at line 320 of file stabilization_indi.c.

References dev, foo, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stateGetNedToBodyQuat_i().

Referenced by stabilization_indi_init().

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◆ send_att_full_indi()

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

static

Definition at line 334 of file stabilization_indi.c.

References angular_accel_ref, angular_acceleration, angular_rate_ref, dev, EULERS_FLOAT_OF_BFP, float_eulers_of_quat_zxy(), foo, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, QUAT_FLOAT_OF_BFP, FloatRates::r, stab_att_sp_euler, stab_att_sp_quat, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), stateGetNedToBodyQuat_f(), and FloatEulers::theta.

Referenced by stabilization_indi_init().

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◆ send_eff_mat_g_indi()

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

static

Definition at line 310 of file stabilization_indi.c.

References dev, foo, g1g2, and g2_est.

Referenced by stabilization_indi_init().

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◆ send_wls_u_stab()

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

static

Definition at line 305 of file stabilization_indi.c.

References dev, send_wls_u(), and wls_stab_p.

Referenced by stabilization_indi_init().

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◆ send_wls_v_stab()

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

static

Definition at line 301 of file stabilization_indi.c.

References dev, send_wls_v(), and wls_stab_p.

Referenced by stabilization_indi_init().

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◆ stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	bool	in_flight,
		struct StabilizationSetpoint *	att_sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

Parameters

	in_flight	enable integrator only in flight
	att_sp	attitude stabilization setpoint
	thrust	thrust setpoint
[out]	output	command vector

Function that should be called to run the INDI controller

Definition at line 765 of file stabilization_indi.c.

References angular_rate_ref, Indi_gains::att, float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), foo, indi_gains, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, RATES_ADD, StabilizationSetpoint::sp, stab_att_sp_euler, stab_att_sp_quat, stab_sp_from_rates_f(), stab_sp_to_eulers_i(), stab_sp_to_quat_f(), stab_sp_to_quat_i(), stab_sp_to_rates_f(), stabilization_indi_rate_run(), and stateGetNedToBodyQuat_f().

Referenced by stabilization_attitude_run().

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◆ stabilization_indi_enter()

void stabilization_indi_enter ( void )

Function that resets important values upon engaging INDI.

Don't reset inputs and filters, because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying. FIXME: Ideally we should detect when coming from something that is not INDI

Definition at line 445 of file stabilization_indi.c.

References ddu_estimation, du_estimation, float_vect_zero(), and foo.

Referenced by stabilization_attitude_enter(), and stabilization_rate_enter().

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◆ stabilization_indi_init()

void stabilization_indi_init ( void )

Function that initializes important values upon engaging INDI.

Definition at line 369 of file stabilization_indi.c.

References act_dyn_discrete, act_feedback_cb(), act_feedback_ev, act_first_order_cutoff, act_is_servo, act_is_thruster_x, act_is_thruster_z, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, Bwls, DefaultPeriodic, estimation_rate_d, estimation_rate_dd, float_vect_copy(), float_vect_zero(), foo, g1, g1_est, g1_init, g1g2, g2, g2_est, g2_init, init_filters(), num_thrusters, num_thrusters_x, register_periodic_telemetry(), send_ahrs_ref_quat(), send_att_full_indi(), send_eff_mat_g_indi(), send_wls_u_stab(), send_wls_v_stab(), and sum_g1_g2().

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◆ stabilization_indi_rate_run()

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

Parameters

in_flight	boolean that states if the UAV is in flight or not
sp	rate setpoint
thrust	thrust setpoint
cmd	output command array

Function that calculates the INDI commands

Definition at line 520 of file stabilization_indi.c.

References acceleration_body_x_filter, ACCELS_FLOAT_OF_BFP, act_is_servo, act_is_thruster_x, act_is_thruster_z, actuator_lowpass_filters, actuator_state, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, angular_accel_ref, angular_acceleration, autopilot_get_motors_on(), body_accel_f, Bwls, estimation_input_lowpass_filters, estimation_output_lowpass_filters, estimation_rate_d, estimation_rate_dd, float_mat_vect_mul(), float_vect_diff(), float_vect_dot_product(), float_vect_zero(), foo, g1g2_pseudo_inv, g2, get_actuator_state(), INDI_G_SCALING, indi_gains, indi_u, indi_use_adaptive, indi_v, lms_estimation(), MAX_PPRZ, measurement_lowpass_filters, num_thrusters, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, radio_control, Indi_gains::rate, rates_filt_fo, stab_sp_to_rates_f(), stabilization_indi_set_wls_settings(), stablization_indi_yaw_dist_limit, stateGetAccelBody_i(), stateGetBodyRates_f(), th_sp_to_incr_f(), th_sp_to_thrust_i(), THRUST_AXIS_X, THRUST_AXIS_Y, THRUST_AXIS_Z, thrust_filt, ThrustSetpoint::type, WLS_t::u, update_butterworth_2_low_pass(), update_first_order_low_pass(), WLS_t::v, RadioControl::values, VECT3_ADD, wls_alloc(), wls_stab_p, and FloatVect3::x.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_run().

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◆ stabilization_indi_set_wls_settings()

void stabilization_indi_set_wls_settings ( void )

Function that sets the u_min, u_max and u_pref if function not elsewhere defined.

Definition at line 732 of file stabilization_indi.c.

References act_is_servo, act_pref, foo, guidance_h, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, MAX_PPRZ, HorizontalGuidance::mode, STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD, stateGetAirspeed_f(), WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, and wls_stab_p.

Referenced by stabilization_indi_rate_run().

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◆ stabilization_indi_update_filt_freq()

void stabilization_indi_update_filt_freq ( float freq )

Definition at line 451 of file stabilization_indi.c.

References foo, init_butterworth_2_low_pass(), init_first_order_low_pass(), p, rates_filt_fo, stabilization_indi_filter_freq, and stateGetBodyRates_f().

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◆ sum_g1_g2()

void sum_g1_g2 ( void )

Function that sums g1 and g2 to obtain the g1g2 matrix It also undoes the scaling that was done to make the values readable.

Definition at line 964 of file stabilization_indi.c.

References foo, g1, g1g2, g2, and INDI_G_SCALING.

Referenced by lms_estimation(), and stabilization_indi_init().

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Variable Documentation

◆ acceleration_body_x_filter

Butterworth2LowPass acceleration_body_x_filter

Definition at line 287 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ acceleration_lowpass_filter

Butterworth2LowPass acceleration_lowpass_filter

Definition at line 286 of file stabilization_indi.c.

Referenced by init_filters(), and lms_estimation().

◆ act_dyn_discrete

float act_dyn_discrete[INDI_NUM_ACT]

Definition at line 197 of file stabilization_indi.c.

Referenced by get_actuator_state(), and stabilization_indi_init().

◆ act_first_order_cutoff

float act_first_order_cutoff[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ

Definition at line 196 of file stabilization_indi.c.

Referenced by stabilization_indi_init().

◆ act_is_servo

bool act_is_servo[INDI_NUM_ACT] = {0}

Definition at line 171 of file stabilization_indi.c.

Referenced by ground_detect_periodic(), stabilization_indi_init(), stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

◆ act_is_thruster_x

bool act_is_thruster_x[INDI_NUM_ACT] = {0}

Definition at line 177 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ act_is_thruster_z

bool act_is_thruster_z[INDI_NUM_ACT]

Definition at line 180 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ act_obs

float act_obs[INDI_NUM_ACT]

Definition at line 238 of file stabilization_indi.c.

Referenced by get_actuator_state().

◆ act_pref

float act_pref[INDI_NUM_ACT] = {0.0}

Definition at line 187 of file stabilization_indi.c.

Referenced by ctrl_eff_scheduling_periodic(), and stabilization_indi_set_wls_settings().

◆ actuator_lowpass_filters

Butterworth2LowPass actuator_lowpass_filters[INDI_NUM_ACT]

Definition at line 282 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ actuator_state

float actuator_state[INDI_NUM_ACT]

Definition at line 214 of file stabilization_indi.c.

Referenced by get_actuator_state(), and stabilization_indi_rate_run().

◆ actuator_state_filt_vect

float actuator_state_filt_vect[INDI_NUM_ACT]

Definition at line 210 of file stabilization_indi.c.

Referenced by eff_scheduling_cyfoam_periodic(), eff_scheduling_periodic_b(), eff_scheduling_rotwing_update_cmd(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), ground_detect_periodic(), guidance_indi_hybrid_set_wls_settings(), stabilization_indi_init(), stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

◆ actuator_state_filt_vectd

float actuator_state_filt_vectd[INDI_NUM_ACT]

Definition at line 225 of file stabilization_indi.c.

Referenced by lms_estimation(), stabilization_indi_init(), and stabilization_indi_rate_run().

◆ actuator_state_filt_vectdd

float actuator_state_filt_vectdd[INDI_NUM_ACT]

Definition at line 226 of file stabilization_indi.c.

Referenced by lms_estimation(), stabilization_indi_init(), and stabilization_indi_rate_run().

◆ angular_accel_ref

struct FloatRates angular_accel_ref = {0., 0., 0.}

Definition at line 211 of file stabilization_indi.c.

Referenced by send_att_full_indi(), and stabilization_indi_rate_run().

◆ angular_acceleration

float angular_acceleration[3] = {0., 0., 0.}

Definition at line 213 of file stabilization_indi.c.

Referenced by send_att_full_indi(), and stabilization_indi_rate_run().

◆ angular_rate_ref

struct FloatRates angular_rate_ref = {0., 0., 0.}

Definition at line 212 of file stabilization_indi.c.

Referenced by send_att_full_indi(), and stabilization_indi_attitude_run().

◆ body_accel_f

struct FloatVect3 body_accel_f

Definition at line 293 of file stabilization_indi.c.

Referenced by ekf_aw_wrapper_fetch(), lms_estimation(), and stabilization_indi_rate_run().

◆ Bwls

float* Bwls[INDI_OUTPUTS]

Definition at line 133 of file stabilization_indi.c.

Referenced by eff_scheduling_cyfoam_periodic(), stabilization_indi_init(), and stabilization_indi_rate_run().

◆ ddu_estimation

float ddu_estimation[INDI_NUM_ACT]

Definition at line 230 of file stabilization_indi.c.

Referenced by calc_g2_element(), lms_estimation(), and stabilization_indi_enter().

◆ du_estimation

float du_estimation[INDI_NUM_ACT]

Definition at line 229 of file stabilization_indi.c.

Referenced by calc_g1_element(), lms_estimation(), and stabilization_indi_enter().

◆ estimation_input_lowpass_filters

Butterworth2LowPass estimation_input_lowpass_filters[INDI_NUM_ACT]

Definition at line 283 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ estimation_output_lowpass_filters

Butterworth2LowPass estimation_output_lowpass_filters[3]

Definition at line 285 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ estimation_rate_d

float estimation_rate_d[INDI_NUM_ACT]

Definition at line 227 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ estimation_rate_dd

float estimation_rate_dd[INDI_NUM_ACT]

Definition at line 228 of file stabilization_indi.c.

Referenced by lms_estimation(), stabilization_indi_init(), and stabilization_indi_rate_run().

◆ g1

float g1[INDI_OUTPUTS][INDI_NUM_ACT]

Initial value:

= {STABILIZATION_INDI_G1_ROLL,
                                        STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST
                                       }

Definition at line 270 of file stabilization_indi.c.

Referenced by gain_scheduling_periodic(), lms_estimation(), stabilization_indi_init(), and sum_g1_g2().

◆ g1_est

float g1_est[INDI_OUTPUTS][INDI_NUM_ACT]

Definition at line 277 of file stabilization_indi.c.

Referenced by bound_g_mat(), calc_g1_element(), lms_estimation(), and stabilization_indi_init().

◆ g1_init

float g1_init[INDI_OUTPUTS][INDI_NUM_ACT]

Definition at line 279 of file stabilization_indi.c.

Referenced by bound_g_mat(), and stabilization_indi_init().

◆ g1g2

float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]

◆ g1g2_pseudo_inv

float g1g2_pseudo_inv[INDI_NUM_ACT][INDI_OUTPUTS]

Definition at line 259 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ g1g2_trans_mult

float g1g2_trans_mult[INDI_OUTPUTS][INDI_OUTPUTS]

Definition at line 223 of file stabilization_indi.c.

◆ g1g2inv

float g1g2inv[INDI_OUTPUTS][INDI_OUTPUTS]

Definition at line 224 of file stabilization_indi.c.

◆ g2

float g2[INDI_NUM_ACT] = STABILIZATION_INDI_G2

Definition at line 260 of file stabilization_indi.c.

Referenced by gain_scheduling_periodic(), lms_estimation(), stabilization_indi_init(), stabilization_indi_rate_run(), and sum_g1_g2().

◆ g2_est

float g2_est[INDI_NUM_ACT]

Definition at line 278 of file stabilization_indi.c.

Referenced by bound_g_mat(), calc_g2_element(), lms_estimation(), send_eff_mat_g_indi(), and stabilization_indi_init().

◆ g2_init

float g2_init[INDI_NUM_ACT]

Definition at line 280 of file stabilization_indi.c.

Referenced by bound_g_mat(), and stabilization_indi_init().

◆ indi_gains

struct Indi_gains indi_gains

Initial value:

= {
  .att = {
    STABILIZATION_INDI_REF_ERR_P,
    STABILIZATION_INDI_REF_ERR_Q,
    STABILIZATION_INDI_REF_ERR_R
  },
  .rate = {
    STABILIZATION_INDI_REF_RATE_P,
    STABILIZATION_INDI_REF_RATE_Q,
    STABILIZATION_INDI_REF_RATE_R
  },
}

Definition at line 145 of file stabilization_indi.c.

Referenced by eff_scheduling_periodic_b(), stabilization_indi_attitude_run(), and stabilization_indi_rate_run().

◆ indi_u

float indi_u[INDI_NUM_ACT]

Definition at line 215 of file stabilization_indi.c.

Referenced by get_actuator_state(), and stabilization_indi_rate_run().

◆ indi_use_adaptive

bool indi_use_adaptive = false

Definition at line 161 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ indi_v

float indi_v[INDI_OUTPUTS]

Definition at line 132 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ measurement_lowpass_filters

Butterworth2LowPass measurement_lowpass_filters[3]

Definition at line 284 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ mu1

float mu1[INDI_OUTPUTS] = {0.00001, 0.00001, 0.000003, 0.000002}

Definition at line 233 of file stabilization_indi.c.

Referenced by lms_estimation().

◆ mu2

float mu2 = 0.002

Definition at line 235 of file stabilization_indi.c.

Referenced by lms_estimation().

◆ num_thrusters

int32_t num_thrusters

Definition at line 241 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ num_thrusters_x

int32_t num_thrusters_x

Definition at line 242 of file stabilization_indi.c.

Referenced by stabilization_indi_init().

◆ q_filt

float q_filt = 0.0

Definition at line 217 of file stabilization_indi.c.

◆ r_filt

float r_filt = 0.0

Definition at line 218 of file stabilization_indi.c.

◆ rates_filt_fo

struct FirstOrderLowPass rates_filt_fo[3]

static

Definition at line 291 of file stabilization_indi.c.

Referenced by init_filters(), stabilization_indi_rate_run(), and stabilization_indi_update_filt_freq().

◆ stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

static

Definition at line 244 of file stabilization_indi.c.

Referenced by send_att_full_indi(), and stabilization_indi_attitude_run().

◆ stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

static

Definition at line 245 of file stabilization_indi.c.

Referenced by send_ahrs_ref_quat(), send_att_full_indi(), and stabilization_indi_attitude_run().

◆ stabilization_att_indi_cmd

int32_t stabilization_att_indi_cmd[COMMANDS_NB]

Definition at line 144 of file stabilization_indi.c.

◆ stabilization_indi_filter_freq

float stabilization_indi_filter_freq = 20.0

Definition at line 220 of file stabilization_indi.c.

Referenced by stabilization_indi_update_filt_freq().

◆ stablization_indi_yaw_dist_limit

float stablization_indi_yaw_dist_limit = 99999.f

Limit the maximum specific moment that can be compensated (units rad/s^2)

Definition at line 206 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ wls_stab_p

struct WLS_t wls_stab_p

Initial value:

= {
  .nu        = INDI_NUM_ACT,
  .nv        = INDI_OUTPUTS,
  .gamma_sq  = 10000.0,
  .v         = {0.0},
 
  .Wv        =  {1000, 1000, 1, 100},
 
  .Wu        = {[0 ... INDI_NUM_ACT - 1] = 1.0},
 
  .u_pref    = {0.0},
  .u_min     = {0.0},
  .u_max     = {0.0},
  .PC        = 0.0,
  .SC        = 0.0,
  .iter      = 0
}

Definition at line 105 of file stabilization_indi.c.

Referenced by schdule_control_effectiveness(), send_wls_u_stab(), send_wls_v_stab(), stabilization_indi_rate_run(), and stabilization_indi_set_wls_settings().

Macros

Functions

Variables

Macro Definition Documentation

◆ INDI_ALLOWED_G_FACTOR

◆ STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE

◆ STABILIZATION_INDI_FILT_CUTOFF_P

◆ STABILIZATION_INDI_FILT_CUTOFF_Q

◆ STABILIZATION_INDI_FILT_CUTOFF_R

◆ STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER

◆ STABILIZATION_INDI_THROTTLE_LIMIT_AIRSPEED_FWD

Function Documentation

◆ bound_g_mat()

◆ calc_g1_element()

◆ calc_g2_element()

◆ get_actuator_state()

◆ init_filters()

◆ lms_estimation()

◆ send_ahrs_ref_quat()

◆ send_att_full_indi()

◆ send_eff_mat_g_indi()

◆ send_wls_u_stab()

◆ send_wls_v_stab()

◆ stabilization_indi_attitude_run()

◆ stabilization_indi_enter()

◆ stabilization_indi_init()

◆ stabilization_indi_rate_run()

◆ stabilization_indi_set_wls_settings()

◆ stabilization_indi_update_filt_freq()

◆ sum_g1_g2()

Variable Documentation

◆ acceleration_body_x_filter

◆ acceleration_lowpass_filter

◆ act_dyn_discrete

◆ act_first_order_cutoff

◆ act_is_servo

◆ act_is_thruster_x

◆ act_is_thruster_z

◆ act_obs

◆ act_pref

◆ actuator_lowpass_filters

◆ actuator_state

◆ actuator_state_filt_vect

◆ actuator_state_filt_vectd

◆ actuator_state_filt_vectdd

◆ angular_accel_ref

◆ angular_acceleration

◆ angular_rate_ref

◆ body_accel_f

◆ Bwls

◆ ddu_estimation

◆ du_estimation

◆ estimation_input_lowpass_filters

◆ estimation_output_lowpass_filters

◆ estimation_rate_d

◆ estimation_rate_dd

◆ g1

◆ g1_est

◆ g1_init

◆ g1g2

◆ g1g2_pseudo_inv

◆ g1g2_trans_mult

◆ g1g2inv

◆ g2

◆ g2_est

◆ g2_init

◆ indi_gains

◆ indi_u

◆ indi_use_adaptive

◆ indi_v

◆ measurement_lowpass_filters

◆ mu1

◆ mu2

◆ num_thrusters

◆ num_thrusters_x

◆ q_filt

◆ r_filt

◆ rates_filt_fo

◆ stab_att_sp_euler

◆ stab_att_sp_quat