stabilization_indi_simple.h File Reference

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.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_rate_run (bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	Does the INDI calculations. More...
void	stabilization_indi_attitude_run (bool in_flight, struct StabilizationSetpoint *att_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
	runs stabilization indi More...
void	stabilization_indi_simple_reset_r_filter_cutoff (float new_cutoff)

Variables
struct IndiVariables	indi

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Data Structure Documentation

Indi_gains

struct Indi_gains

Definition at line 50 of file stabilization_indi.h.

Collaboration diagram for Indi_gains:

Data Fields
struct FloatRates	att
struct FloatRates	rate

IndiEstimation

struct IndiEstimation

Definition at line 47 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 59 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	(	bool	in_flight,
		struct StabilizationSetpoint *	att_sp,
		struct ThrustSetpoint *	thrust,
		int32_t *	cmd
	)

runs stabilization indi

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

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 760 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, FloatRates::p, FloatRates::q, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, 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(), 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 442 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 368 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(), 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
	)

Does the INDI calculations.

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

Parameters

in_flight	true aircraft is flying
sp	rate setpoint
thrust	thrust setpoint
cmd	output command array

Definition at line 517 of file stabilization_indi.c.

References acceleration_body_x_filter, ACCELS_FLOAT_OF_BFP, IndiVariables::act_dyn, actuator_lowpass_filters, actuator_state, actuator_state_filt_vect, actuator_state_filt_vectd, actuator_state_filt_vectdd, angular_accel_ref, IndiVariables::angular_accel_ref, angular_acceleration, IndiVariables::attitude_max_yaw_rate, body_accel_f, Bwls, IndiVariables::du, estimation_input_lowpass_filters, estimation_output_lowpass_filters, estimation_rate_d, estimation_rate_dd, filter_pqr(), finite_difference_from_filter(), float_mat_vect_mul(), FLOAT_RATES_ZERO, float_vect_diff(), float_vect_dot_product(), float_vect_zero(), IndiVariables::g1, g2, IndiVariables::g2, IndiVariables::gains, get_actuator_state(), indi, INDI_G_SCALING, indi_gains, lms_estimation(), MAX_PPRZ, measurement_lowpass_filters, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, FloatRates::r, Indi_gains::rate, IndiVariables::rate, IndiVariables::rate_d, rates_filt_fo, stab_sp_to_rates_f(), stablization_indi_yaw_dist_limit, stateGetAccelBody_i(), stateGetBodyRates_f(), th_sp_to_thrust_i(), THRUST_AXIS_Z, IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, update_butterworth_2_low_pass(), update_first_order_low_pass(), and FloatVect3::x.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_read_rc().

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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 243 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

extern

Definition at line 104 of file stabilization_indi_simple.c.

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