stabilization_attitude_ref_euler_float.h File Reference

#include "math/pprz_algebra_float.h"
#include "attitude_ref_saturate_naive.h"

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Data Structures
struct	FloatRefModel
	Attitude reference model parameters (float) More...
struct	AttRefEulerFloat
	Attitude reference state/output (euler float) More...

Functions
void	attitude_ref_euler_float_init (struct AttRefEulerFloat *ref)
void	attitude_ref_euler_float_enter (struct AttRefEulerFloat *ref, float psi)
void	attitude_ref_euler_float_update (struct AttRefEulerFloat *ref, struct FloatEulers *sp_eulers, float dt)

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Data Structure Documentation

struct FloatRefModel

Attitude reference model parameters (float)

Definition at line 29 of file stabilization_attitude_ref_euler_float.h.

Collaboration diagram for FloatRefModel:

Data Fields
struct FloatRates	omega
struct FloatRates	two_omega2	cached value of 2*omega*omega
struct FloatRates	zeta

struct AttRefEulerFloat

Attitude reference state/output (euler float)

Definition at line 35 of file stabilization_attitude_ref_euler_float.h.

Collaboration diagram for AttRefEulerFloat:

Data Fields
struct FloatRates	accel
struct FloatEulers	euler
struct FloatRefModel	model
struct FloatRates	rate
struct FloatRefSat	saturation

Function Documentation

void attitude_ref_euler_float_enter	(	struct AttRefEulerFloat *	ref,
		float	psi
	)

Definition at line 62 of file stabilization_attitude_ref_euler_float.c.

References reset_psi_ref().

Referenced by stabilization_attitude_enter().

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void attitude_ref_euler_float_init

(

struct AttRefEulerFloat *

ref

)

Definition at line 41 of file stabilization_attitude_ref_euler_float.c.

References AttRefEulerFloat::accel, AttRefEulerFloat::euler, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, FloatRefSat::max_accel, FloatRefSat::max_rate, AttRefEulerFloat::model, FloatRefModel::omega, FloatRates::p, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, AttRefEulerFloat::saturation, STABILIZATION_ATTITUDE_REF_MAX_P, STABILIZATION_ATTITUDE_REF_MAX_PDOT, STABILIZATION_ATTITUDE_REF_MAX_Q, STABILIZATION_ATTITUDE_REF_MAX_QDOT, STABILIZATION_ATTITUDE_REF_MAX_R, STABILIZATION_ATTITUDE_REF_MAX_RDOT, and FloatRefModel::zeta.

Referenced by stabilization_attitude_init().

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void attitude_ref_euler_float_update	(	struct AttRefEulerFloat *	ref,
		struct FloatEulers *	sp_eulers,
		float	dt
	)

Definition at line 67 of file stabilization_attitude_ref_euler_float.c.

References AttRefEulerFloat::accel, attitude_ref_float_saturate_naive(), AttRefEulerFloat::euler, EULERS_ADD, EULERS_ASSIGN, EULERS_DIFF, FLOAT_ANGLE_NORMALIZE, AttRefEulerFloat::model, FloatRefModel::omega, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, AttRefEulerFloat::rate, RATES_ADD, RATES_SMUL, AttRefEulerFloat::saturation, FloatEulers::theta, and FloatRefModel::zeta.

Referenced by stabilization_attitude_run().

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