stabilization_indi_simple.c File Reference

#include "firmwares/rotorcraft/stabilization/stabilization_indi_simple.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "state.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include "modules/radio_control/radio_control.h"
#include "filters/low_pass_filter.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	STABILIZATION_INDI_FILT_CUTOFF   8.0
#define	STABILIZATION_INDI_FILT_CUTOFF_RDOT   STABILIZATION_INDI_FILT_CUTOFF
#define	STABILIZATION_INDI_MAX_RATE   6.0
#define	STABILIZATION_INDI_MAX_R   STABILIZATION_ATTITUDE_SP_MAX_R
#define	STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF   4.0
#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	INDI_EST_SCALE   0.001

Functions
static void	lms_estimation (void)
	This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration. More...
static void	indi_init_filters (void)
static void	send_att_indi (struct transport_tx *trans, struct link_device *dev)
static void	send_ahrs_ref_quat (struct transport_tx *trans, struct link_device *dev)
void	stabilization_indi_init (void)
	Function that initializes important values upon engaging INDI. More...
void	stabilization_indi_simple_reset_r_filter_cutoff (float new_cutoff)
void	stabilization_indi_enter (void)
	Function that resets important values upon engaging INDI. More...
void	stabilization_indi_set_failsafe_setpoint (void)
	Function that calculates the failsafe setpoint. More...
void	stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
	Set attitude quaternion setpoint from rpy. More...
void	stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
	Set attitude setpoint from command in earth axes. More...
static void	filter_pqr (Butterworth2LowPass *filter, struct FloatRates *new_values)
	Update butterworth filter for p, q and r of a FloatRates struct. More...
static void	finite_difference_from_filter (float *output, Butterworth2LowPass *filter)
	Caclulate finite difference form a filter array The filter already contains the previous values. More...
static void	finite_difference (float output[3], float new[3], float old[3])
	Calculate derivative of an array via finite difference. More...
void	stabilization_indi_rate_run (struct FloatRates rate_sp, bool in_flight)
	Does the INDI calculations. More...
void	stabilization_indi_attitude_run (struct Int32Quat quat_sp, bool in_flight)
	runs stabilization indi More...
void	stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
	This function reads rc commands. More...

Variables
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
static struct FirstOrderLowPass	rates_filt_fo [3]
struct IndiVariables	indi

Macro Definition Documentation

INDI_EST_SCALE

#define INDI_EST_SCALE   0.001

Definition at line 102 of file stabilization_indi_simple.c.

STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF

#define STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF   4.0

Definition at line 72 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF

#define STABILIZATION_INDI_FILT_CUTOFF   8.0

Definition at line 51 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_P

#define STABILIZATION_INDI_FILT_CUTOFF_P   20.0

Definition at line 78 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_Q

#define STABILIZATION_INDI_FILT_CUTOFF_Q   20.0

Definition at line 84 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_R

#define STABILIZATION_INDI_FILT_CUTOFF_R   20.0

Definition at line 90 of file stabilization_indi_simple.c.

STABILIZATION_INDI_FILT_CUTOFF_RDOT

#define STABILIZATION_INDI_FILT_CUTOFF_RDOT   STABILIZATION_INDI_FILT_CUTOFF

Definition at line 56 of file stabilization_indi_simple.c.

STABILIZATION_INDI_MAX_R

#define STABILIZATION_INDI_MAX_R   STABILIZATION_ATTITUDE_SP_MAX_R

Definition at line 68 of file stabilization_indi_simple.c.

STABILIZATION_INDI_MAX_RATE

#define STABILIZATION_INDI_MAX_RATE   6.0

Definition at line 60 of file stabilization_indi_simple.c.

Function Documentation

filter_pqr()

static void filter_pqr ( Butterworth2LowPass *  filter, struct FloatRates *  new_values  )

inlinestatic

Update butterworth filter for p, q and r of a FloatRates struct.

Parameters

filter	The filter array to use
new_values	The new values

Definition at line 288 of file stabilization_indi_simple.c.

References FloatRates::p, FloatRates::q, FloatRates::r, and update_butterworth_2_low_pass().

Referenced by lms_estimation(), and stabilization_indi_rate_run().

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finite_difference()

static void finite_difference ( float  output[3], float  new[3], float  old[3]  )

inlinestatic

Calculate derivative of an array via finite difference.

Parameters

output[3]	The output array
new[3]	The newest values
old[3]	The values of the previous timestep

Definition at line 316 of file stabilization_indi_simple.c.

Referenced by lms_estimation().

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finite_difference_from_filter()

static void finite_difference_from_filter ( float *  output, Butterworth2LowPass *  filter  )

inlinestatic

Caclulate finite difference form a filter array The filter already contains the previous values.

Parameters

output	The output array
filter	The filter array input

Definition at line 302 of file stabilization_indi_simple.c.

References SecondOrderLowPass::o.

Referenced by lms_estimation(), and stabilization_indi_rate_run().

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indi_init_filters()

void indi_init_filters ( void  )

static

Definition at line 191 of file stabilization_indi_simple.c.

References IndiVariables::est, indi, init_butterworth_2_low_pass(), init_first_order_low_pass(), p, IndiEstimation::rate, IndiVariables::rate, 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, STABILIZATION_INDI_FILT_CUTOFF_RDOT, stateGetBodyRates_f(), IndiEstimation::u, and IndiVariables::u.

Referenced by stabilization_indi_enter(), and stabilization_indi_init().

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lms_estimation()

static void lms_estimation ( void  )

inlinestatic

This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration.

Definition at line 487 of file stabilization_indi_simple.c.

References IndiVariables::adaptive, IndiVariables::est, filter_pqr(), finite_difference(), finite_difference_from_filter(), float_vect_copy(), float_vect_scale(), IndiEstimation::g1, IndiVariables::g1, IndiEstimation::g2, IndiVariables::g2, indi, INDI_EST_SCALE, IndiEstimation::mu, FloatRates::p, FloatRates::q, FloatRates::r, IndiEstimation::rate, IndiEstimation::rate_d, IndiEstimation::rate_dd, stateGetBodyRates_f(), IndiEstimation::u, IndiVariables::u_act_dyn, IndiEstimation::u_d, and IndiEstimation::u_dd.

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 165 of file stabilization_indi_simple.c.

References dev, 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_indi()

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

static

Definition at line 145 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, dev, IndiVariables::est, IndiEstimation::g1, IndiEstimation::g2, indi, INDI_EST_SCALE, FloatRates::p, FloatRates::q, FloatRates::r, IndiVariables::rate_d, and RATES_SMUL.

Referenced by stabilization_indi_init().

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stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	struct Int32Quat	quat_sp,
		bool	in_flight
	)

runs stabilization indi

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 430 of file stabilization_indi_simple.c.

References Indi_gains::att, float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), IndiVariables::gains, indi, indi_gains, indi_thrust_increment_set, FloatRates::p, FloatRates::q, QUAT_FLOAT_OF_BFP, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, Indi_gains::rate, stabilization_indi_rate_run(), stateGetNedToBodyQuat_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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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 223 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, ddu_estimation, du_estimation, FLOAT_RATES_ZERO, float_vect_zero(), indi, indi_init_filters(), Int32Eulers::psi, stab_att_sp_euler, stabilization_attitude_get_heading_i(), IndiVariables::u_act_dyn, and IndiVariables::u_in.

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stabilization_indi_init()

void stabilization_indi_init

(

void

)

Function that initializes important values upon engaging INDI.

Definition at line 180 of file stabilization_indi_simple.c.

References act_is_servo, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, Bwls, calc_g1g2_pseudo_inv(), DefaultPeriodic, estimation_rate_d, estimation_rate_dd, float_vect_copy(), float_vect_zero(), g1, g1_est, g1_init, g1g2, g2, g2_est, g2_init, indi_init_filters(), init_filters(), num_thrusters, register_periodic_telemetry(), rpm_cb(), rpm_ev, RPM_SENSOR_ID, send_ahrs_ref_quat(), send_att_indi(), send_indi_g(), sum_g1_g2(), thrust_cb(), thrust_ev, and THRUST_INCREMENT_ID.

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stabilization_indi_rate_run()

void stabilization_indi_rate_run	(	struct FloatRates	rate_sp,
		bool	in_flight
	)

Does the INDI calculations.

Parameters

indi_commands[]	Array of commands that the function will write to
att_err	quaternion attitude error

Definition at line 329 of file stabilization_indi_simple.c.

References act_is_servo, act_pref, actuator_lowpass_filters, actuator_state, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, IndiVariables::angular_accel_ref, angular_accel_ref, angular_acceleration, IndiVariables::attitude_max_yaw_rate, autopilot_get_motors_on(), Bwls, IndiVariables::du, du_max, du_min, du_pref, estimation_input_lowpass_filters, estimation_output_lowpass_filters, estimation_rate_d, estimation_rate_dd, filter_pqr(), finite_difference_from_filter(), FLOAT_RATES_ZERO, float_vect_sum(), float_vect_zero(), IndiVariables::g1, g1g2_pseudo_inv, IndiVariables::g2, g2, g2_times_du, IndiVariables::gains, get_actuator_state(), guidance_h, GUIDANCE_H_MODE_HOVER, GUIDANCE_H_MODE_NAV, indi, indi_du, INDI_G_SCALING, indi_gains, indi_thrust_increment, indi_thrust_increment_set, indi_u, indi_use_adaptive, indi_v, lms_estimation(), MAX_PPRZ, measurement_lowpass_filters, HorizontalGuidance::mode, num_iter, num_thrusters, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, IndiVariables::rate, IndiVariables::rate_d, rates_filt_fo, stabilization_cmd, stateGetAirspeed_f(), stateGetBodyRates_f(), IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, update_butterworth_2_low_pass(), update_first_order_low_pass(), wls_alloc(), and Wv.

Referenced by stabilization_indi_attitude_run().

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stabilization_indi_read_rc()

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

This function reads rc commands.

Parameters

in_flight

boolean that states if the UAV is in flight or not

Definition at line 470 of file stabilization_indi_simple.c.

References QUAT_BFP_OF_REAL, stab_att_sp_quat, stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

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stabilization_indi_set_earth_cmd_i()

void stabilization_indi_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Set attitude setpoint from command in earth axes.

Parameters

cmd	The command in earth axes (North East)
heading	The desired heading

Definition at line 265 of file stabilization_indi_simple.c.

References heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, quat_from_earth_cmd_i(), stab_att_sp_euler, stab_att_sp_quat, stateGetNedToBodyEulers_i(), Int32Eulers::theta, Int32Vect2::x, and Int32Vect2::y.

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stabilization_indi_set_failsafe_setpoint()

void stabilization_indi_set_failsafe_setpoint

(

void

)

Function that calculates the failsafe setpoint.

Definition at line 236 of file stabilization_indi_simple.c.

References PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_i().

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stabilization_indi_set_rpy_setpoint_i()

void stabilization_indi_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Set attitude quaternion setpoint from rpy.

Parameters

rpy	roll pitch yaw input

Definition at line 251 of file stabilization_indi_simple.c.

References int32_quat_of_eulers(), stab_att_sp_euler, and stab_att_sp_quat.

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stabilization_indi_simple_reset_r_filter_cutoff()

void stabilization_indi_simple_reset_r_filter_cutoff

(

float

new_cutoff

)

Definition at line 216 of file stabilization_indi_simple.c.

References IndiVariables::cutoff_r, indi, init_first_order_low_pass(), rates_filt_fo, and stateGetBodyRates_f().

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Variable Documentation

indi

struct IndiVariables indi

Definition at line 104 of file stabilization_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic(), indi_init_filters(), lms_estimation(), send_att_indi(), stabilization_indi_attitude_run(), stabilization_indi_enter(), stabilization_indi_rate_run(), and stabilization_indi_simple_reset_r_filter_cutoff().

rates_filt_fo

struct FirstOrderLowPass rates_filt_fo[3]

static

Definition at line 96 of file stabilization_indi_simple.c.

Referenced by indi_init_filters(), stabilization_indi_rate_run(), and stabilization_indi_simple_reset_r_filter_cutoff().

stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 93 of file stabilization_indi_simple.c.

Referenced by stabilization_indi_enter(), stabilization_indi_set_earth_cmd_i(), and stabilization_indi_set_rpy_setpoint_i().

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 94 of file stabilization_indi_simple.c.

Referenced by send_ahrs_ref_quat(), stabilization_indi_read_rc(), stabilization_indi_set_earth_cmd_i(), stabilization_indi_set_failsafe_setpoint(), and stabilization_indi_set_rpy_setpoint_i().