Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_rate.c File Reference

Rate stabilization for rotorcrafts. More...

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Macros

#define MAX_SUM_ERR   40000
 
#define STABILIZATION_RATE_IGAIN_P   0
 
#define STABILIZATION_RATE_IGAIN_Q   0
 
#define STABILIZATION_RATE_IGAIN_R   0
 
#define OFFSET_AND_ROUND(_a, _b)   (((_a)+(1<<((_b)-1)))>>(_b))
 
#define OFFSET_AND_ROUND2(_a, _b)   (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
 

Functions

static void send_rate (struct transport_tx *trans, struct link_device *dev)
 
void stabilization_rate_init (void)
 
void stabilization_rate_enter (void)
 
void stabilization_rate_run (bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd)
 
struct StabilizationSetpoint stabilization_rate_read_rc (struct RadioControl *rc)
 

Variables

static struct FloatRates stabilization_rate_sp
 
static struct FloatRates stabilization_rate_sum_err
 
static struct FloatRates stabilization_rate_fb_cmd
 
struct FloatRates stabilization_rate_gain
 
struct FloatRates stabilization_rate_igain
 

Detailed Description

Rate stabilization for rotorcrafts.

Control loops for angular velocity.

Definition in file stabilization_rate.c.

Macro Definition Documentation

◆ MAX_SUM_ERR

#define MAX_SUM_ERR   40000

Definition at line 40 of file stabilization_rate.c.

◆ OFFSET_AND_ROUND

#define OFFSET_AND_ROUND (   _a,
  _b 
)    (((_a)+(1<<((_b)-1)))>>(_b))

Definition at line 64 of file stabilization_rate.c.

◆ OFFSET_AND_ROUND2

#define OFFSET_AND_ROUND2 (   _a,
  _b 
)    (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))

Definition at line 65 of file stabilization_rate.c.

◆ STABILIZATION_RATE_IGAIN_P

#define STABILIZATION_RATE_IGAIN_P   0

Definition at line 43 of file stabilization_rate.c.

◆ STABILIZATION_RATE_IGAIN_Q

#define STABILIZATION_RATE_IGAIN_Q   0

Definition at line 47 of file stabilization_rate.c.

◆ STABILIZATION_RATE_IGAIN_R

#define STABILIZATION_RATE_IGAIN_R   0

Definition at line 51 of file stabilization_rate.c.

Function Documentation

◆ send_rate()

static void send_rate ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

◆ stabilization_rate_enter()

void stabilization_rate_enter ( void  )

Definition at line 113 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, and stabilization_rate_sum_err.

Referenced by stabilization_attitude_read_rc().

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◆ stabilization_rate_init()

◆ stabilization_rate_read_rc()

◆ stabilization_rate_run()

void stabilization_rate_run ( bool  in_flight,
struct StabilizationSetpoint rate_sp,
struct ThrustSetpoint thrust,
int32_t cmd 
)

Definition at line 118 of file stabilization_rate.c.

Referenced by stab_sp_rotate_f().

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Variable Documentation

◆ stabilization_rate_fb_cmd

struct FloatRates stabilization_rate_fb_cmd
static

Definition at line 1 of file stabilization_rate.c.

Referenced by send_rate(), and stabilization_rate_read_rc().

◆ stabilization_rate_gain

struct FloatRates stabilization_rate_gain

Definition at line 1 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_read_rc().

◆ stabilization_rate_igain

struct FloatRates stabilization_rate_igain

Definition at line 1 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_read_rc().

◆ stabilization_rate_sp

struct FloatRates stabilization_rate_sp
static

◆ stabilization_rate_sum_err

struct FloatRates stabilization_rate_sum_err
static