34 #ifndef STABILIZATION_INDI_SIMPLE_H
35 #define STABILIZATION_INDI_SIMPLE_H
Simple first order low pass filter with bilinear transform.
Second order low pass filter structure.
General stabilization interface for rotorcrafts.
Rotorcraft attitude reference generation.
float max_rate
Maximum rate in rate control in rad/s.
void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
This function reads rc commands.
void stabilization_indi_enter(void)
Function that resets important values upon engaging INDI.
Butterworth2LowPass rate[3]
struct IndiEstimation est
Estimation parameters for adaptive INDI.
void stabilization_indi_set_failsafe_setpoint(void)
Function that calculates the failsafe setpoint.
void stabilization_indi_attitude_run(struct Int32Quat quat_sp, bool in_flight)
runs stabilization indi
void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
Set attitude setpoint from command in earth axes.
void stabilization_indi_simple_reset_r_filter_cutoff(float new_cutoff)
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
struct FloatRates u_act_dyn
struct FloatRates angular_accel_ref
void stabilization_indi_init(void)
Function that initializes important values upon engaging INDI.
void stabilization_indi_set_stab_sp(struct StabilizationSetpoint *sp)
Set attitude setpoint from stabilization setpoint struct.
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
Set attitude quaternion setpoint from rpy.
bool adaptive
Enable adataptive estimation.
struct IndiVariables indi
void stabilization_indi_rate_run(struct FloatRates rates_sp, bool in_flight)
Does the INDI calculations.
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
float attitude_max_yaw_rate
Maximum yaw rate in atttiude control in rad/s.
void stabilization_indi_set_quat_setpoint_i(struct Int32Quat *quat)
Butterworth2LowPass rate[3]
int int32_t
Typedef defining 32 bit int type.