stabilization_indi.h File Reference

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

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Data Structures
struct	ReferenceSystem

Macros
#define	INDI_NUM_ACT   4
#define	INDI_OUTPUTS   4
#define	INDI_G_SCALING   1000.0

Functions
void	stabilization_indi_init (void)
	Function that initializes important values upon engaging INDI. More...
void	stabilization_indi_enter (void)
	Function that resets important values upon engaging INDI. More...
void	stabilization_indi_set_failsafe_setpoint (void)
	Function that calculates the failsafe setpoint. More...
void	stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
	Set attitude quaternion setpoint from rpy. More...
void	stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
	Set attitude setpoint from command in earth axes. More...
void	stabilization_indi_run (bool in_flight, bool rate_control)
	runs stabilization indi More...
void	stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
	This function reads rc commands. More...

Variables
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
float	g1g2 [INDI_OUTPUTS][INDI_NUM_ACT]
bool	indi_use_adaptive
struct ReferenceSystem	reference_acceleration

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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

Macro Definition Documentation

#define INDI_G_SCALING   1000.0

Definition at line 34 of file stabilization_indi.h.

Referenced by calc_g1g2_pseudo_inv(), ctrl_eff_scheduling_init(), and stabilization_indi_calc_cmd().

#define INDI_NUM_ACT   4

Definition at line 30 of file stabilization_indi.h.

Referenced by bound_g_mat(), calc_g1g2_pseudo_inv(), ctrl_eff_scheduling_init(), ctrl_eff_scheduling_periodic(), get_actuator_state(), init_filters(), lms_estimation(), send_indi_g(), stabilization_indi_calc_cmd(), stabilization_indi_enter(), and stabilization_indi_init().

#define INDI_OUTPUTS   4

Definition at line 32 of file stabilization_indi.h.

Referenced by bound_g_mat(), calc_g1g2_pseudo_inv(), ctrl_eff_scheduling_init(), ctrl_eff_scheduling_periodic(), lms_estimation(), stabilization_indi_calc_cmd(), and stabilization_indi_init().

Function Documentation

void stabilization_indi_enter

(

void

)

Function that resets important values upon engaging INDI.

Don't reset inputs and filters, because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying. FIXME: Ideally we should detect when coming from something that is not INDI

Definition at line 254 of file stabilization_indi.c.

void stabilization_indi_init

(

void

)

Function that initializes important values upon engaging INDI.

Definition at line 204 of file stabilization_indi.c.

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

This function reads rc commands.

Parameters

in_flight

boolean that states if the UAV is in flight or not

Definition at line 517 of file stabilization_indi.c.

void stabilization_indi_run	(	bool	in_flight,
		bool	rate_control
	)

runs stabilization indi

Parameters

enable_integrator
rate_control	boolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Parameters

in_flight	not used
rate_control	rate control enabled, otherwise attitude control

Definition at line 475 of file stabilization_indi.c.

void stabilization_indi_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Set attitude setpoint from command in earth axes.

Parameters

cmd	2D command in North East axes
heading	Heading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Parameters

cmd	The command in earth axes (North East)
heading	The desired heading

Definition at line 321 of file stabilization_indi.c.

void stabilization_indi_set_failsafe_setpoint

(

void

)

Function that calculates the failsafe setpoint.

Definition at line 292 of file stabilization_indi.c.

void stabilization_indi_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Set attitude quaternion setpoint from rpy.

Parameters

rpy	rpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Parameters

rpy	roll pitch yaw input

Definition at line 307 of file stabilization_indi.c.

Variable Documentation

float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]

Definition at line 159 of file stabilization_indi.c.

Referenced by calc_g1g2_pseudo_inv(), ctrl_eff_scheduling_periodic(), and stabilization_indi_init().

bool indi_use_adaptive

Definition at line 78 of file stabilization_indi.c.

Referenced by stabilization_indi_calc_cmd().

struct ReferenceSystem reference_acceleration

Definition at line 66 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.

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 127 of file stabilization_attitude_heli_indi.c.