stabilization_indi.h File Reference

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"

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Data Structures
struct	ReferenceSystem
struct	IndiFilter
struct	IndiEstimation
struct	IndiVariables

Functions
void	stabilization_indi_init (void)
void	stabilization_indi_enter (void)
void	stabilization_indi_set_failsafe_setpoint (void)
void	stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
void	stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
void	stabilization_indi_run (bool enable_integrator, bool rate_control)
void	stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)

Variables
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct IndiVariables	indi

---

Data Structure Documentation

struct ReferenceSystem

Definition at line 42 of file stabilization_indi.h.

Data Fields
float	err_p
float	err_q
float	err_r
float	rate_p
float	rate_q
float	rate_r

struct IndiFilter

Definition at line 51 of file stabilization_indi.h.

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Data Fields
struct FloatRates	ddx
struct FloatRates	dx
float	omega
float	omega2
float	omega2_r
float	omega_r
struct FloatRates	x
float	zeta

struct IndiEstimation

Definition at line 63 of file stabilization_indi.h.

Collaboration diagram for IndiEstimation:

Data Fields
struct FloatRates	g1
float	g2
float	mu
struct IndiFilter	rate
struct IndiFilter	u

struct IndiVariables

Definition at line 71 of file stabilization_indi.h.

Collaboration diagram for IndiVariables:

Data Fields
bool	adaptive	Enable adataptive estimation.
struct FloatRates	angular_accel_ref
float	attitude_max_yaw_rate	Maximum yaw rate in atttiude control in rad/s.
struct FloatRates	du
struct IndiEstimation	est	Estimation parameters for adaptive INDI.
struct FloatRates	g1
float	g2
float	max_rate	Maximum rate in rate control in rad/s.
struct IndiFilter	rate
struct ReferenceSystem	reference_acceleration
struct IndiFilter	u
struct FloatRates	u_act_dyn
struct FloatRates	u_in

Function Documentation

void stabilization_indi_enter

(

void

)

Definition at line 156 of file stabilization_indi.c.

References IndiVariables::angular_accel_ref, IndiFilter::ddx, IndiVariables::du, IndiFilter::dx, FLOAT_RATES_ZERO, Int32Eulers::psi, IndiVariables::rate, stab_att_sp_euler, stabilization_attitude_get_heading_i(), IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, and IndiFilter::x.

Referenced by stabilization_attitude_enter(), and stabilization_rate_enter().

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void stabilization_indi_init

(

void

)

Definition at line 143 of file stabilization_indi.c.

References DefaultPeriodic, IndiVariables::est, IndiEstimation::rate, IndiVariables::rate, register_periodic_telemetry(), send_att_indi(), STABILIZATION_INDI_FILT_OMEGA, STABILIZATION_INDI_FILT_OMEGA_R, STABILIZATION_INDI_FILT_ZETA, stabilization_indi_second_order_filter_init(), IndiEstimation::u, and IndiVariables::u.

Referenced by stabilization_attitude_init(), and stabilization_rate_init().

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

Definition at line 321 of file stabilization_indi.c.

References QUAT_BFP_OF_REAL, stab_att_sp_quat, stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

Referenced by stabilization_attitude_read_rc().

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void stabilization_indi_run	(	bool	enable_integrator,
		bool	rate_control
	)

Definition at line 296 of file stabilization_indi.c.

References int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), MAX_PPRZ, stab_att_sp_quat, stabilization_att_indi_cmd, stabilization_cmd, stabilization_indi_calc_cmd(), and stateGetNedToBodyQuat_i().

Referenced by stabilization_attitude_run(), and stabilization_rate_run().

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void stabilization_indi_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 191 of file stabilization_indi.c.

References heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, quat_from_earth_cmd_i(), stab_att_sp_euler, stab_att_sp_quat, stateGetNedToBodyEulers_i(), Int32Eulers::theta, Int32Vect2::x, and Int32Vect2::y.

Referenced by stabilization_attitude_set_earth_cmd_i().

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void stabilization_indi_set_failsafe_setpoint

(

void

)

Definition at line 173 of file stabilization_indi.c.

References PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_i().

Referenced by stabilization_attitude_set_failsafe_setpoint().

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void stabilization_indi_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Definition at line 183 of file stabilization_indi.c.

References quat_from_rpy_cmd_i(), stab_att_sp_euler, and stab_att_sp_quat.

Referenced by stabilization_attitude_set_rpy_setpoint_i().

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Variable Documentation

struct IndiVariables indi

Definition at line 88 of file stabilization_indi.c.

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 45 of file stabilization_attitude_euler_float.c.

Referenced by guidance_flip_run(), guidance_hybrid_set_cmd_i(), reset_psi_ref_from_body(), send_att(), send_att_ref(), stabilization_attitude_enter(), stabilization_attitude_init(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), stabilization_attitude_read_rc_setpoint_quat_f(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), stabilization_attitude_set_rpy_setpoint_i(), stabilization_indi_enter(), stabilization_indi_set_earth_cmd_i(), and stabilization_indi_set_rpy_setpoint_i().

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 127 of file stabilization_attitude_heli_indi.c.

Referenced by guidance_hybrid_set_cmd_i(), stabilization_attitude_init(), stabilization_attitude_read_rc(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), stabilization_attitude_set_rpy_setpoint_i(), stabilization_attitude_set_setpoint_rp_quat_f(), stabilization_indi_read_rc(), stabilization_indi_run(), stabilization_indi_set_earth_cmd_i(), stabilization_indi_set_failsafe_setpoint(), and stabilization_indi_set_rpy_setpoint_i().