Paparazzi UAS  v6.0_unstable-92-g17422e4-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
stabilization_indi_simple.h File Reference
+ Include dependency graph for stabilization_indi_simple.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  Indi_gains
 
struct  IndiEstimation
 
struct  IndiVariables
 

Functions

void stabilization_indi_init (void)
 Function that initializes important values upon engaging INDI. More...
 
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...
 
void stabilization_indi_rate_run (struct FloatRates rates_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...
 
void stabilization_indi_simple_reset_r_filter_cutoff (float new_cutoff)
 

Variables

struct Int32Quat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
 
struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct IndiVariables indi
 

Data Structure Documentation

struct Indi_gains

Definition at line 41 of file stabilization_indi.h.

+ Collaboration diagram for Indi_gains:
Data Fields
struct FloatRates att
struct FloatRates rate
struct IndiEstimation

Definition at line 48 of file stabilization_indi_simple.h.

+ Collaboration diagram for IndiEstimation:
Data Fields
struct FloatRates g1
float g2
float mu
Butterworth2LowPass rate[3]
float rate_d[3]
float rate_dd[3]
Butterworth2LowPass u[3]
float u_d[3]
float u_dd[3]
struct IndiVariables

Definition at line 60 of file stabilization_indi_simple.h.

+ Collaboration diagram for IndiVariables:
Data Fields
bool adaptive Enable adataptive estimation.
struct FloatRates angular_accel_ref
float attitude_max_yaw_rate Maximum yaw rate in atttiude control in rad/s.
float cutoff_r
struct FloatRates du
struct IndiEstimation est Estimation parameters for adaptive INDI.
struct FloatRates g1
float g2
struct Indi_gains gains
float max_rate Maximum rate in rate control in rad/s.
Butterworth2LowPass rate[3]
float rate_d[3]
Butterworth2LowPass u[3]
struct FloatRates u_act_dyn
struct FloatRates u_in

Function Documentation

void stabilization_indi_attitude_run ( struct Int32Quat  quat_sp,
bool  in_flight 
)

runs stabilization indi

Parameters
enable_integrator
rate_controlboolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Parameters
in_flightnot used
rate_controlrate control enabled, otherwise attitude control

Definition at line 538 of file stabilization_indi.c.

References Indi_gains::att, IndiVariables::gains, indi_thrust_increment_set, int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), FloatRates::p, FloatRates::q, QUAT1_FLOAT_OF_BFP, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, FloatRates::r, Indi_gains::rate, stabilization_indi_rate_run(), and stateGetNedToBodyQuat_i().

Referenced by stabilization_attitude_run().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

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 275 of file stabilization_indi.c.

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

Referenced by stabilization_attitude_enter(), and stabilization_rate_enter().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void stabilization_indi_rate_run ( struct FloatRates  rate_sp,
bool  in_flight 
)

Does the INDI calculations.

Parameters
att_errattitude error
rate_controlboolean that states if we are in rate control or attitude control
in_flightboolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Parameters
indi_commands[]Array of commands that the function will write to
att_errquaternion attitude error

Definition at line 373 of file stabilization_indi.c.

References act_is_servo, act_pref, actuator_state, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, IndiVariables::angular_accel_ref, angular_acceleration, IndiVariables::attitude_max_yaw_rate, Bwls, IndiVariables::du, du_max, du_min, du_pref, 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_du, INDI_G_SCALING, indi_thrust_increment, indi_thrust_increment_set, indi_u, indi_use_adaptive, indi_v, lms_estimation(), MAX_PPRZ, 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(), and stabilization_rate_run().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

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

This function reads rc commands.

Parameters
in_flightboolean that states if the UAV is in flight or not

Definition at line 567 of file stabilization_indi.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().

Referenced by stabilization_attitude_read_rc().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void stabilization_indi_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)

Set attitude setpoint from command in earth axes.

Parameters
cmd2D command in North East axes
headingHeading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Parameters
cmdThe command in earth axes (North East)
headingThe desired heading

Definition at line 349 of file stabilization_indi.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.

Referenced by stabilization_attitude_set_earth_cmd_i().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void stabilization_indi_set_failsafe_setpoint ( void  )

Function that calculates the failsafe setpoint.

Definition at line 320 of file stabilization_indi.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().

Referenced by stabilization_attitude_set_failsafe_setpoint().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

void stabilization_indi_set_rpy_setpoint_i ( struct Int32Eulers rpy)

Set attitude quaternion setpoint from rpy.

Parameters
rpyrpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Parameters
rpyroll pitch yaw input

Definition at line 335 of file stabilization_indi.c.

References int32_quat_of_eulers(), stab_att_sp_euler, and stab_att_sp_quat.

Referenced by stabilization_attitude_set_rpy_setpoint_i().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

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, init_first_order_low_pass(), rates_filt_fo, and stateGetBodyRates_f().

+ Here is the call graph for this function:

Variable Documentation

struct IndiVariables indi

Definition at line 104 of file stabilization_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic().