stabilization_attitude_ref_euler_int.h File Reference

Rotorcraft attitude reference generation (euler int version) More...

#include "stabilization_attitude_ref_int.h"

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Data Structures
struct	AttRefEulerInt
	Attitude reference models and state/output (euler int) More...

Functions
void	attitude_ref_euler_int_init (struct AttRefEulerInt *ref)
void	attitude_ref_euler_int_enter (struct AttRefEulerInt *ref, int32_t psi)
void	attitude_ref_euler_int_update (struct AttRefEulerInt *ref, struct Int32Eulers *sp_euler)
	Propagate reference model. More...

Detailed Description

Rotorcraft attitude reference generation (euler int version)

Definition in file stabilization_attitude_ref_euler_int.h.

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Data Structure Documentation

struct AttRefEulerInt

Attitude reference models and state/output (euler int)

Definition at line 33 of file stabilization_attitude_ref_euler_int.h.

Collaboration diagram for AttRefEulerInt:

Data Fields
struct Int32Rates	accel	with REF_ACCEL_FRAC
struct Int32Eulers	euler	with REF_ANGLE_FRAC
struct Int32Rates	rate	with REF_RATE_FRAC

Function Documentation

void attitude_ref_euler_int_enter	(	struct AttRefEulerInt *	ref,
		int32_t	psi
	)

void attitude_ref_euler_int_init

(

struct AttRefEulerInt *

ref

)

Definition at line 73 of file stabilization_attitude_ref_euler_int.c.

References AttRefEulerInt::accel, AttRefEulerInt::euler, INT_EULERS_ZERO, INT_RATES_ZERO, and AttRefEulerInt::rate.

Referenced by stabilization_attitude_init().

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void attitude_ref_euler_int_update	(	struct AttRefEulerInt *	ref,
		struct Int32Eulers *	sp_euler
	)

Propagate reference model.

FIXME: has hardcoded timestep (512Hz via fixed F_UPDATE_RES)

Definition at line 84 of file stabilization_attitude_ref_euler_int.c.

References AttRefEulerInt::accel, ANGLE_REF_NORMALIZE, AttRefEulerInt::euler, EULERS_ADD, EULERS_DIFF, F_UPDATE_RES, INT32_ANGLE_FRAC, INT32_EULERS_LSHIFT, OMEGA_2_P, OMEGA_2_P_RES, OMEGA_2_Q, OMEGA_2_Q_RES, OMEGA_2_R, OMEGA_2_R_RES, Int32Rates::p, Int32Eulers::phi, Int32Eulers::psi, Int32Rates::q, Int32Rates::r, AttRefEulerInt::rate, RATES_ADD, RATES_BOUND_BOX, RATES_SUM, REF_ACCEL_FRAC, REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R, REF_ANGLE_FRAC, REF_RATE_FRAC, Int32Eulers::theta, ZETA_OMEGA_P, ZETA_OMEGA_P_RES, ZETA_OMEGA_Q, ZETA_OMEGA_Q_RES, ZETA_OMEGA_R, and ZETA_OMEGA_R_RES.

Referenced by stabilization_attitude_run().

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