Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include "firmwares/rotorcraft/stabilization/stabilization_oneloop.h"
#include "firmwares/rotorcraft/oneloop/oneloop_andi.h"
#include "modules/radio_control/radio_control.h"
#include "generated/airframe.h"
#include "generated/modules.h"
Go to the source code of this file.
Functions | |
void | stabilization_attitude_init (void) |
stabilization_attitude_init More... | |
void | stabilization_attitude_enter (void) |
void | stabilization_attitude_set_failsafe_setpoint (void) |
void | stabilization_attitude_set_rpy_setpoint_i (UNUSED struct Int32Eulers *rpy) |
void | stabilization_attitude_set_quat_setpoint_i (UNUSED struct Int32Quat *quat) |
void | stabilization_attitude_set_earth_cmd_i (UNUSED struct Int32Vect2 *cmd, UNUSED int32_t heading) |
void | stabilization_attitude_set_stab_sp (UNUSED struct StabilizationSetpoint *sp) |
void | stabilization_attitude_run (bool in_flight) |
void | stabilization_attitude_read_rc (UNUSED bool in_flight, UNUSED bool in_carefree, UNUSED bool coordinated_turn) |
Variables | |
struct FloatEulers | stab_att_sp_euler |
with INT32_ANGLE_FRAC More... | |
struct Int32Quat | stab_att_sp_quat |
with INT32_QUAT_FRAC More... | |
struct FloatRates | stab_att_ff_rates |
void stabilization_attitude_enter | ( | void | ) |
Definition at line 49 of file stabilization_oneloop.c.
References att_ref_euler_f, attitude_ref_euler_float_enter(), FLOAT_EULERS_ZERO, oneloop_andi_enter(), FloatEulers::psi, stab_att_sp_euler, stabilization_att_sum_err, and stabilization_attitude_get_heading_f().
Referenced by guidance_h_mode_changed(), and ins_ekf2_publish_attitude().
void stabilization_attitude_init | ( | void | ) |
stabilization_attitude_init
Initialize the heli indi attitude controller.
Definition at line 44 of file stabilization_oneloop.c.
References att_ref_euler_f, attitude_ref_euler_float_init(), FloatAttitudeGains::d, FloatAttitudeGains::dd, DefaultPeriodic, FLOAT_EULERS_ZERO, FloatAttitudeGains::i, FloatAttitudeGains::p, register_periodic_telemetry(), send_att(), send_att_ref(), stabilization_att_sum_err, stabilization_gains, and VECT3_ASSIGN.
void stabilization_attitude_read_rc | ( | UNUSED bool | in_flight, |
UNUSED bool | in_carefree, | ||
UNUSED bool | coordinated_turn | ||
) |
Definition at line 91 of file stabilization_oneloop.c.
void stabilization_attitude_run | ( | bool | in_flight | ) |
Definition at line 79 of file stabilization_oneloop.c.
References AttRefEulerFloat::accel, att_ref_euler_f, attitude_ref_euler_float_update(), FloatAttitudeGains::d, FloatAttitudeGains::dd, AttRefEulerFloat::euler, EULERS_ADD, EULERS_BOUND_CUBE, EULERS_COPY, EULERS_DIFF, FLOAT_ANGLE_NORMALIZE, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, OneloopGeneral::half_loop, FloatAttitudeGains::i, MAX_PPRZ, MAX_SUM_ERR, oneloop_andi, oneloop_andi_run(), FloatAttitudeGains::p, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, RATES_DIFF, stab_att_sp_euler, stabilization_att_fb_cmd, stabilization_att_ff_cmd, stabilization_att_sum_err, stabilization_cmd, stabilization_gains, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by guidance_flip_run(), guidance_h_from_nav(), guidance_h_guided_run(), guidance_h_module_run(), guidance_h_run(), and vertical_ctrl_module_run().
void stabilization_attitude_set_earth_cmd_i | ( | UNUSED struct Int32Vect2 * | cmd, |
UNUSED int32_t | heading | ||
) |
Definition at line 69 of file stabilization_oneloop.c.
void stabilization_attitude_set_failsafe_setpoint | ( | void | ) |
Definition at line 54 of file stabilization_oneloop.c.
References FloatEulers::phi, FloatEulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_f(), and FloatEulers::theta.
Referenced by autopilot_static_set_mode().
Definition at line 64 of file stabilization_oneloop.c.
void stabilization_attitude_set_rpy_setpoint_i | ( | UNUSED struct Int32Eulers * | rpy | ) |
Definition at line 59 of file stabilization_oneloop.c.
void stabilization_attitude_set_stab_sp | ( | UNUSED struct StabilizationSetpoint * | sp | ) |
Definition at line 74 of file stabilization_oneloop.c.
struct FloatRates stab_att_ff_rates |
Definition at line 1 of file stabilization_oneloop.c.
struct FloatEulers stab_att_sp_euler |
with INT32_ANGLE_FRAC
Definition at line 1 of file stabilization_oneloop.c.
struct Int32Quat stab_att_sp_quat |
with INT32_QUAT_FRAC
Definition at line 1 of file stabilization_oneloop.c.