Read an attitude setpoint from the RC. More...

#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "generated/airframe.h"
#include "subsystems/radio_control.h"
#include "state.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "mcu_periph/sys_time.h"

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Go to the source code of this file.

Macros
#define	STABILIZATION_ATTITUDE_DEADBAND_A 0

#define	STABILIZATION_ATTITUDE_DEADBAND_E 0

#define	COORDINATED_TURN_AIRSPEED 12.0
	Airspeed that will be used in the turning speed calculation (m/s). More...

#define	YAW_DEADBAND_EXCEEDED()

Functions
static int32_t	get_rc_roll (void)

static int32_t	get_rc_pitch (void)

static int32_t	get_rc_yaw (void)

static float	get_rc_roll_f (void)

static float	get_rc_pitch_f (void)

static float	get_rc_yaw_f (void)

void	stabilization_attitude_reset_care_free_heading (void)
	reset the heading for care-free mode to current heading More...

int32_t	stabilization_attitude_get_heading_i (void)

float	stabilization_attitude_get_heading_f (void)

void	stabilization_attitude_read_rc_setpoint_eulers (struct Int32Eulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn)
	Read attitude setpoint from RC as euler angles. More...

void	stabilization_attitude_read_rc_setpoint_eulers_f (struct FloatEulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn)

void	stabilization_attitude_read_rc_roll_pitch_quat_f (struct FloatQuat *q)
	Read roll/pitch command from RC as quaternion. More...

void	stabilization_attitude_read_rc_roll_pitch_earth_quat_f (struct FloatQuat *q)
	Read roll/pitch command from RC as quaternion. More...

void	stabilization_attitude_read_rc_setpoint_quat_f (struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)
	Read attitude setpoint from RC as quaternion Interprets the stick positions as axes. More...

void	stabilization_attitude_read_rc_setpoint_quat_earth_bound_f (struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)

Variables
float	care_free_heading = 0

int32_t	transition_theta_offset = 0

Detailed Description

Read an attitude setpoint from the RC.

Definition in file stabilization_attitude_rc_setpoint.c.

Macro Definition Documentation

#define COORDINATED_TURN_AIRSPEED 12.0

Airspeed that will be used in the turning speed calculation (m/s).

This variable is for calculation of the turn speed, and does not influence the airspeed. With a higher speed, the vehicle will turn less in a turn with the same roll.

Definition at line 50 of file stabilization_attitude_rc_setpoint.c.

Referenced by stabilization_attitude_read_rc_setpoint_eulers(), and stabilization_attitude_read_rc_setpoint_eulers_f().

#define STABILIZATION_ATTITUDE_DEADBAND_A 0

Definition at line 36 of file stabilization_attitude_rc_setpoint.c.

Referenced by get_rc_roll(), and get_rc_roll_f().

#define STABILIZATION_ATTITUDE_DEADBAND_E 0

Definition at line 40 of file stabilization_attitude_rc_setpoint.c.

Referenced by get_rc_pitch(), and get_rc_pitch_f().

#define YAW_DEADBAND_EXCEEDED ( )

Value:

(radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_DEADBAND_R || \

radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R)

RadioControl::values

pprz_t values[RADIO_CONTROL_NB_CHANNEL]

Definition: radio_control.h:69

radio_control

struct RadioControl radio_control

Definition: radio_control.c:30

RADIO_YAW

#define RADIO_YAW

Definition: intermcu_ap.h:43

Definition at line 53 of file stabilization_attitude_rc_setpoint.c.

Referenced by stabilization_attitude_read_rc_setpoint_eulers(), and stabilization_attitude_read_rc_setpoint_eulers_f().

Function Documentation

static int32_t get_rc_pitch ( void )

static

Definition at line 72 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, radio_control, RADIO_PITCH, STABILIZATION_ATTITUDE_DEADBAND_E, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_setpoint_eulers().

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static float get_rc_pitch_f ( void )

static

Definition at line 103 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, radio_control, RADIO_PITCH, STABILIZATION_ATTITUDE_DEADBAND_E, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_roll_pitch_quat_f(), and stabilization_attitude_read_rc_setpoint_eulers_f().

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static int32_t get_rc_roll ( void )

static

Definition at line 60 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, radio_control, RADIO_ROLL, STABILIZATION_ATTITUDE_DEADBAND_A, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_setpoint_eulers().

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static float get_rc_roll_f ( void )

static

Definition at line 92 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, radio_control, RADIO_ROLL, STABILIZATION_ATTITUDE_DEADBAND_A, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_roll_pitch_quat_f(), and stabilization_attitude_read_rc_setpoint_eulers_f().

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static int32_t get_rc_yaw ( void )

static

Definition at line 84 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, MAX_PPRZ, radio_control, RADIO_YAW, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_setpoint_eulers().

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static float get_rc_yaw_f ( void )

inlinestatic

Definition at line 114 of file stabilization_attitude_rc_setpoint.c.

References MAX_PPRZ, radio_control, RADIO_YAW, and RadioControl::values.

Referenced by stabilization_attitude_read_rc_setpoint_eulers_f().

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float stabilization_attitude_get_heading_f ( void )

Definition at line 149 of file stabilization_attitude_rc_setpoint.c.

References heading, FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by stabilization_attitude_enter(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stabilization_attitude_set_failsafe_setpoint().

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int32_t stabilization_attitude_get_heading_i ( void )

Definition at line 130 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, heading, INT32_ANGLE_PI_2, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_SIN, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

Referenced by guidance_flip_enter(), stabilization_attitude_enter(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_set_failsafe_setpoint(), stabilization_indi_enter(), and stabilization_indi_set_failsafe_setpoint().

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void stabilization_attitude_read_rc_roll_pitch_earth_quat_f ( struct FloatQuat * q )

Read roll/pitch command from RC as quaternion.

Both angles are are interpreted relative to to the horizontal plane (earth bound).

Parameters

[out] q quaternion representing the RC roll/pitch input

Definition at line 347 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, get_rc_pitch_f(), get_rc_roll_f(), FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and transition_theta_offset.

Referenced by stabilization_attitude_read_rc_setpoint_quat_earth_bound_f().

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void stabilization_attitude_read_rc_roll_pitch_quat_f ( struct FloatQuat * q )

Read roll/pitch command from RC as quaternion.

Interprets the stick positions as axes.

Parameters

[out] q quaternion representing the RC roll/pitch input

Definition at line 331 of file stabilization_attitude_rc_setpoint.c.

References float_quat_of_orientation_vect(), get_rc_pitch_f(), get_rc_roll_f(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_eulers	(	struct Int32Eulers *	sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Read attitude setpoint from RC as euler angles.

Parameters

[in]	coordinated_turn	true if in horizontal mode forward
[in]	in_carefree	true if in carefree mode
[in]	in_flight	true if in flight
[out]	sp	attitude setpoint as euler angles

Definition at line 173 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, care_free_heading, COORDINATED_TURN_AIRSPEED, get_rc_pitch(), get_rc_roll(), get_rc_yaw(), get_sys_time_float(), heading, INT32_ANGLE_FRAC, INT32_ANGLE_NORMALIZE, INT_MULT_RSHIFT, last_ts, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, stabilization_attitude_get_heading_i(), stateGetNedToBodyEulers_i(), Int32Eulers::theta, THROTTLE_STICK_DOWN, and YAW_DEADBAND_EXCEEDED.

Referenced by guidance_h_module_enter(), guidance_h_module_read_rc(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_eulers_f	(	struct FloatEulers *	sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 252 of file stabilization_attitude_rc_setpoint.c.

References care_free_heading, COORDINATED_TURN_AIRSPEED, FLOAT_ANGLE_NORMALIZE, get_rc_pitch_f(), get_rc_roll_f(), get_rc_yaw_f(), get_sys_time_float(), heading, last_ts, FloatEulers::phi, FloatEulers::psi, stabilization_attitude_get_heading_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, THROTTLE_STICK_DOWN, and YAW_DEADBAND_EXCEEDED.

Referenced by guidance_h_read_rc(), stabilization_attitude_read_rc(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

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void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f	(	struct FloatQuat *	q_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 427 of file stabilization_attitude_rc_setpoint.c.

References ANGLE_FLOAT_OF_BFP, float_quat_comp(), float_quat_normalize(), float_quat_of_axis_angle(), FloatEulers::psi, QUAT_COPY, stab_att_sp_euler, stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), and stateGetNedToBodyEulers_f().

Referenced by stabilization_attitude_read_rc(), and stabilization_indi_read_rc().

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void stabilization_attitude_read_rc_setpoint_quat_f	(	struct FloatQuat *	q_sp,
		bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Read attitude setpoint from RC as quaternion Interprets the stick positions as axes.

Parameters

[in]	coordinated_turn	true if in horizontal mode forward
[in]	in_carefree	true if in carefree mode
[in]	in_flight	true if in flight
[out]	q_sp	attitude setpoint as quaternion