Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_rate_indi.c File Reference
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Macros

#define STABILIZATION_INDI_MAX_RATE   6.0
 Maximum rate you can request in RC rate mode (rad/s) More...
 
#define STABILIZATION_RATE_DEADBAND_P   0
 
#define STABILIZATION_RATE_DEADBAND_Q   0
 
#define STABILIZATION_RATE_DEADBAND_R   200
 
#define ROLL_RATE_DEADBAND_EXCEEDED()
 
#define PITCH_RATE_DEADBAND_EXCEEDED()
 
#define YAW_RATE_DEADBAND_EXCEEDED()
 

Functions

static void send_rate (struct transport_tx *trans, struct link_device *dev)
 
void stabilization_rate_init (void)
 Initialize rate controller. More...
 
void stabilization_rate_enter (void)
 Reset rate controller. More...
 
void stabilization_rate_read_rc (void)
 Read RC comands with roll and yaw sticks. More...
 
void stabilization_rate_read_rc_switched_sticks (void)
 Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired. More...
 
void stabilization_rate_run (bool in_flight)
 Run indi rate interface from the "stabilization_rate_run" function. More...
 

Variables

struct FloatRates stabilization_rate_sp
 

Detailed Description

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur.

Definition in file stabilization_rate_indi.c.

Macro Definition Documentation

◆ PITCH_RATE_DEADBAND_EXCEEDED

#define PITCH_RATE_DEADBAND_EXCEEDED ( )

◆ ROLL_RATE_DEADBAND_EXCEEDED

#define ROLL_RATE_DEADBAND_EXCEEDED ( )

◆ STABILIZATION_INDI_MAX_RATE

#define STABILIZATION_INDI_MAX_RATE   6.0

Maximum rate you can request in RC rate mode (rad/s)

Definition at line 43 of file stabilization_rate_indi.c.

◆ STABILIZATION_RATE_DEADBAND_P

#define STABILIZATION_RATE_DEADBAND_P   0

Definition at line 48 of file stabilization_rate_indi.c.

◆ STABILIZATION_RATE_DEADBAND_Q

#define STABILIZATION_RATE_DEADBAND_Q   0

Definition at line 51 of file stabilization_rate_indi.c.

◆ STABILIZATION_RATE_DEADBAND_R

#define STABILIZATION_RATE_DEADBAND_R   200

Definition at line 54 of file stabilization_rate_indi.c.

◆ YAW_RATE_DEADBAND_EXCEEDED

#define YAW_RATE_DEADBAND_EXCEEDED ( )

Function Documentation

◆ send_rate()

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

Definition at line 73 of file stabilization_rate_indi.c.

References dev, FloatRates::p, FloatRates::q, FloatRates::r, stabilization_cmd, and stabilization_rate_sp.

Referenced by stabilization_rate_init().

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◆ stabilization_rate_enter()

void stabilization_rate_enter ( void  )

Reset rate controller.

Definition at line 107 of file stabilization_rate_indi.c.

References FLOAT_RATES_ZERO, stabilization_indi_enter(), and stabilization_rate_sum_err.

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◆ stabilization_rate_init()

◆ stabilization_rate_read_rc()

◆ stabilization_rate_read_rc_switched_sticks()

void stabilization_rate_read_rc_switched_sticks ( void  )

◆ stabilization_rate_run()

void stabilization_rate_run ( bool  in_flight)

Variable Documentation

◆ stabilization_rate_sp

STABILIZATION_RATE_DEADBAND_Q
#define STABILIZATION_RATE_DEADBAND_Q
Definition: stabilization_rate_indi.c:51
STABILIZATION_RATE_DEADBAND_P
#define STABILIZATION_RATE_DEADBAND_P
Definition: stabilization_rate_indi.c:48
STABILIZATION_RATE_DEADBAND_R
#define STABILIZATION_RATE_DEADBAND_R
Definition: stabilization_rate_indi.c:54
radio_control
struct RadioControl radio_control
Definition: radio_control.c:33
RadioControl::values
pprz_t values[RADIO_CONTROL_NB_CHANNEL]
Definition: radio_control.h:67