stabilization_attitude_ref_quat_float.c File Reference

Rotorcraft attitude reference generation. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h"

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Macros
#define	STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP   TRUE
	default to fast but less precise quaternion integration More...

Functions
static void	reset_psi_ref (struct AttRefQuatFloat *ref, float psi)
void	attitude_ref_quat_float_init (struct AttRefQuatFloat *ref)
void	attitude_ref_quat_float_enter (struct AttRefQuatFloat *ref, float psi)
void	attitude_ref_quat_float_update (struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void	attitude_ref_quat_float_idx_set_omega_p (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_q (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_idx_set_omega_r (struct AttRefQuatFloat *ref, uint8_t idx, float omega)
void	attitude_ref_quat_float_set_omega_p (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_q (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_set_omega_r (struct AttRefQuatFloat *ref, float omega)
void	attitude_ref_quat_float_schedule (struct AttRefQuatFloat *ref, uint8_t idx)

Variables
static const float	omega_p [] = STABILIZATION_ATTITUDE_REF_OMEGA_P
static const float	zeta_p [] = STABILIZATION_ATTITUDE_REF_ZETA_P
static const float	omega_q [] = STABILIZATION_ATTITUDE_REF_OMEGA_Q
static const float	zeta_q [] = STABILIZATION_ATTITUDE_REF_ZETA_Q
static const float	omega_r [] = STABILIZATION_ATTITUDE_REF_OMEGA_R
static const float	zeta_r [] = STABILIZATION_ATTITUDE_REF_ZETA_R

Detailed Description

Rotorcraft attitude reference generation.

(quaternion float version)

Definition in file stabilization_attitude_ref_quat_float.c.

Macro Definition Documentation

#define STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP   TRUE

default to fast but less precise quaternion integration

Definition at line 37 of file stabilization_attitude_ref_quat_float.c.

Function Documentation

void attitude_ref_quat_float_enter	(	struct AttRefQuatFloat *	ref,
		float	psi
	)

Definition at line 80 of file stabilization_attitude_ref_quat_float.c.

References reset_psi_ref().

Referenced by stabilization_attitude_enter().

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void attitude_ref_quat_float_idx_set_omega_p	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 156 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::p, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_p().

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void attitude_ref_quat_float_idx_set_omega_q	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 162 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::q, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_q().

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void attitude_ref_quat_float_idx_set_omega_r	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx,
		float	omega
	)

Definition at line 168 of file stabilization_attitude_ref_quat_float.c.

References idx, AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::r, and FloatRefModel::two_omega2.

Referenced by attitude_ref_quat_float_set_omega_r().

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void attitude_ref_quat_float_init

(

struct AttRefQuatFloat *

ref

)

Definition at line 57 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::accel, AttRefQuatFloat::cur_idx, AttRefQuatFloat::euler, FLOAT_EULERS_ZERO, float_quat_identity(), FLOAT_RATES_ZERO, FloatRefSat::max_accel, FloatRefSat::max_rate, AttRefQuatFloat::model, FloatRefModel::omega, omega_p, omega_q, omega_r, FloatRates::p, FloatRates::q, AttRefQuatFloat::quat, FloatRates::r, AttRefQuatFloat::rate, RATES_ASSIGN, AttRefQuatFloat::saturation, STABILIZATION_ATTITUDE_GAIN_NB, STABILIZATION_ATTITUDE_REF_MAX_P, STABILIZATION_ATTITUDE_REF_MAX_PDOT, STABILIZATION_ATTITUDE_REF_MAX_Q, STABILIZATION_ATTITUDE_REF_MAX_QDOT, STABILIZATION_ATTITUDE_REF_MAX_R, STABILIZATION_ATTITUDE_REF_MAX_RDOT, FloatRefModel::two_omega2, FloatRefModel::zeta, zeta_p, zeta_q, and zeta_r.

Referenced by stabilization_attitude_init().

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void attitude_ref_quat_float_schedule	(	struct AttRefQuatFloat *	ref,
		uint8_t	idx
	)

Definition at line 193 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::cur_idx, and idx.

Referenced by stabilization_attitude_gain_schedule(), and stabilization_attitude_init().

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void attitude_ref_quat_float_set_omega_p	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 174 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_p(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_q	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 179 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_q(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_set_omega_r	(	struct AttRefQuatFloat *	ref,
		float	omega
	)

Definition at line 184 of file stabilization_attitude_ref_quat_float.c.

References attitude_ref_quat_float_idx_set_omega_r(), and AttRefQuatFloat::cur_idx.

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void attitude_ref_quat_float_update	(	struct AttRefQuatFloat *	ref,
		struct FloatQuat *	sp_quat,
		float	dt
	)

Definition at line 86 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::accel, attitude_ref_float_saturate_naive(), AttRefQuatFloat::cur_idx, AttRefQuatFloat::euler, float_eulers_of_quat(), float_quat_comp(), float_quat_derivative(), float_quat_differential(), float_quat_inv_comp(), float_quat_normalize(), float_quat_wrap_shortest(), AttRefQuatFloat::model, FloatRefModel::omega, FloatRates::p, FloatRates::q, AttRefQuatFloat::quat, QUAT_ADD, QUAT_COPY, QUAT_SMUL, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, AttRefQuatFloat::rate, RATES_ADD, RATES_SMUL, AttRefQuatFloat::saturation, FloatRefModel::two_omega2, and FloatRefModel::zeta.

Referenced by stabilization_attitude_run().

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static void reset_psi_ref ( struct AttRefQuatFloat *  ref, float  psi  )

inlinestatic

Definition at line 139 of file stabilization_attitude_ref_quat_float.c.

References AttRefQuatFloat::accel, AttRefQuatFloat::euler, float_quat_of_eulers(), float_quat_wrap_shortest(), FloatEulers::psi, AttRefQuatFloat::quat, FloatRates::r, and AttRefQuatFloat::rate.

Referenced by attitude_ref_quat_float_enter().

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Variable Documentation

const float omega_p[] = STABILIZATION_ATTITUDE_REF_OMEGA_P

static

Definition at line 42 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_omega_p().

const float omega_q[] = STABILIZATION_ATTITUDE_REF_OMEGA_Q

static

Definition at line 44 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_omega_q().

const float omega_r[] = STABILIZATION_ATTITUDE_REF_OMEGA_R

static

Definition at line 46 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_omega_r().

const float zeta_p[] = STABILIZATION_ATTITUDE_REF_ZETA_P

static

Definition at line 43 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_zeta_p().

const float zeta_q[] = STABILIZATION_ATTITUDE_REF_ZETA_Q

static

Definition at line 45 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_zeta_q().

const float zeta_r[] = STABILIZATION_ATTITUDE_REF_ZETA_R

static

Definition at line 47 of file stabilization_attitude_ref_quat_float.c.

Referenced by attitude_ref_quat_float_init(), and attitude_ref_quat_int_set_zeta_r().