#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
#include "filters/low_pass_filter.h"

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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_quat_setpoint_i (struct Int32Quat *quat)

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_set_stab_sp (struct StabilizationSetpoint *sp)
	Set attitude setpoint from stabilization setpoint struct. 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

◆ Indi_gains

struct Indi_gains

Definition at line 55 of file stabilization_indi.h.

Collaboration diagram for Indi_gains:

Data Fields
struct FloatRates	att
struct FloatRates	rate

◆ IndiEstimation

struct IndiEstimation

Definition at line 49 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]

◆ IndiVariables

struct IndiVariables

Definition at line 61 of file stabilization_indi_simple.h.

Collaboration diagram for IndiVariables:

Data Fields
struct FloatRates	act_dyn
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

◆ stabilization_indi_attitude_run()

void stabilization_indi_attitude_run	(	struct Int32Quat	quat_sp,
		bool	in_flight
	)

runs stabilization indi

Parameters

enable_integrator
rate_control	boolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 770 of file stabilization_indi.c.

References angular_rate_ref, 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, RATES_ADD, stab_att_ff_rates, stabilization_indi_rate_run(), stateGetNedToBodyQuat_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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 420 of file stabilization_indi.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.

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 347 of file stabilization_indi.c.

References IndiVariables::act_dyn, 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(), g1, g1_est, g1_init, g1g2, g2, g2_est, g2_init, indi, indi_init_filters(), init_filters(), num_thrusters, num_thrusters_x, FloatRates::p, FloatRates::q, FloatRates::r, register_periodic_telemetry(), send_ahrs_ref_quat(), send_att_full_indi(), send_att_indi(), send_eff_mat_g_indi(), send_eff_mat_g_indi_simple(), 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

att_err	attitude error
rate_control	boolean that states if we are in rate control or attitude control
in_flight	boolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Parameters