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"

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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 in_flight)
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 an implementation of the publication in the journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles

This is an 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 43 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 68 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_read_rc().

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void stabilization_attitude_run

(

bool

in_flight

)

Definition at line 63 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 58 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 48 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 53 of file stabilization_attitude_quat_indi.c.

References stabilization_indi_set_rpy_setpoint_i().

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