stabilization_attitude_quat_indi.c File Reference

MAVLab Delft University of Technology This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI) More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"

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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 (struct Int32Eulers *rpy)
void	stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
void	stabilization_attitude_run (bool enable_integrator)
void	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)

Detailed Description

MAVLab Delft University of Technology This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI)

This is a simplified implementation of the (soon to be) publication in the journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles

This is a simplified implementation of the publication in the journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles http://arc.aiaa.org/doi/pdf/10.2514/1.G001490

Definition in file stabilization_attitude_quat_indi.c.

Function Documentation

void stabilization_attitude_enter

(

void

)

Definition at line 40 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_enter().

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void stabilization_attitude_init

(

void

)

stabilization_attitude_init

Initialize the heli indi attitude controller.

Definition at line 35 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_init().

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void stabilization_attitude_read_rc	(	bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 65 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_read_rc().

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void stabilization_attitude_run

(

bool

enable_integrator

)

Definition at line 60 of file stabilization_attitude_quat_indi.c.

References FALSE, and stabilization_indi_run().

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void stabilization_attitude_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 55 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_set_earth_cmd_i().

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void stabilization_attitude_set_failsafe_setpoint

(

void

)

Definition at line 45 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_set_failsafe_setpoint().

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void stabilization_attitude_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Definition at line 50 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_set_rpy_setpoint_i().

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