stabilization_attitude_ref_quat_int.c File Reference

Rotorcraft attitude reference generation. More...

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

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Macros
#define	TWO_ZETA_OMEGA_RES   10
#define	TWO_OMEGA_2_RES   7
#define	F_UPDATE_RES   9
#define	OFFSET_AND_ROUND(_a, _b)   (((_a)+(1<<((_b)-1)))>>(_b))

Functions
static void	reset_psi_ref (struct AttRefQuatInt *ref, int32_t psi)
static void	update_ref_model_p (struct AttRefQuatInt *ref)
static void	update_ref_model_q (struct AttRefQuatInt *ref)
static void	update_ref_model_r (struct AttRefQuatInt *ref)
static void	update_ref_model (struct AttRefQuatInt *ref)
void	attitude_ref_quat_int_init (struct AttRefQuatInt *ref)
void	attitude_ref_quat_int_enter (struct AttRefQuatInt *ref, int32_t psi)
void	attitude_ref_quat_int_update (struct AttRefQuatInt *ref, struct Int32Quat *sp_quat, float dt)
	Propagate reference. More...
void	attitude_ref_quat_int_set_omega_p (struct AttRefQuatInt *ref, float omega_p)
void	attitude_ref_quat_int_set_omega_q (struct AttRefQuatInt *ref, float omega_q)
void	attitude_ref_quat_int_set_omega_r (struct AttRefQuatInt *ref, float omega_r)
void	attitude_ref_quat_int_set_omega (struct AttRefQuatInt *ref, struct FloatRates *omega)
void	attitude_ref_quat_int_set_zeta_p (struct AttRefQuatInt *ref, float zeta_p)
void	attitude_ref_quat_int_set_zeta_q (struct AttRefQuatInt *ref, float zeta_q)
void	attitude_ref_quat_int_set_zeta_r (struct AttRefQuatInt *ref, float zeta_r)
void	attitude_ref_quat_int_set_zeta (struct AttRefQuatInt *ref, struct FloatRates *zeta)
void	attitude_ref_quat_int_set_max_p (struct AttRefQuatInt *ref, float max_p)
void	attitude_ref_quat_int_set_max_q (struct AttRefQuatInt *ref, float max_q)
void	attitude_ref_quat_int_set_max_r (struct AttRefQuatInt *ref, float max_r)
void	attitude_ref_quat_int_set_max_pdot (struct AttRefQuatInt *ref, float max_pdot)
void	attitude_ref_quat_int_set_max_qdot (struct AttRefQuatInt *ref, float max_qdot)
void	attitude_ref_quat_int_set_max_rdot (struct AttRefQuatInt *ref, float max_rdot)

Detailed Description

Rotorcraft attitude reference generation.

(quaternion int version)

Definition in file stabilization_attitude_ref_quat_int.c.

Macro Definition Documentation

#define F_UPDATE_RES   9

Definition at line 92 of file stabilization_attitude_ref_quat_int.c.

Referenced by attitude_ref_quat_int_update().

#define OFFSET_AND_ROUND	(		_a,
			_b
	)		(((_a)+(1<<((_b)-1)))>>(_b))

Definition at line 94 of file stabilization_attitude_ref_quat_int.c.

Referenced by attitude_ref_quat_int_update().

#define TWO_OMEGA_2_RES   7

Definition at line 36 of file stabilization_attitude_ref_quat_int.c.

Referenced by attitude_ref_quat_int_update(), update_ref_model_p(), update_ref_model_q(), and update_ref_model_r().

#define TWO_ZETA_OMEGA_RES   10

Definition at line 35 of file stabilization_attitude_ref_quat_int.c.

Referenced by attitude_ref_quat_int_update(), update_ref_model_p(), update_ref_model_q(), and update_ref_model_r().

Function Documentation

void attitude_ref_quat_int_enter	(	struct AttRefQuatInt *	ref,
		int32_t	psi
	)

Definition at line 78 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::accel, AttRefQuatInt::euler, int32_quat_of_eulers(), int32_quat_wrap_shortest(), AttRefQuatInt::quat, AttRefQuatInt::rate, and reset_psi_ref().

Referenced by stabilization_attitude_enter().

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void attitude_ref_quat_int_init

(

struct AttRefQuatInt *

ref

)

Definition at line 51 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::accel, attitude_ref_quat_int_set_max_p(), attitude_ref_quat_int_set_max_pdot(), attitude_ref_quat_int_set_max_q(), attitude_ref_quat_int_set_max_qdot(), attitude_ref_quat_int_set_max_r(), attitude_ref_quat_int_set_max_rdot(), attitude_ref_quat_int_set_omega(), attitude_ref_quat_int_set_zeta(), AttRefQuatInt::euler, int32_quat_identity(), INT_EULERS_ZERO, INT_RATES_ZERO, AttRefQuatInt::quat, AttRefQuatInt::rate, 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, and update_ref_model().

Referenced by stabilization_attitude_init().

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void attitude_ref_quat_int_set_max_p	(	struct AttRefQuatInt *	ref,
		float	max_p
	)

Definition at line 254 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_rate, Int32Rates::p, REF_RATE_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_max_pdot	(	struct AttRefQuatInt *	ref,
		float	max_pdot
	)

Definition at line 269 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_accel, Int32Rates::p, REF_ACCEL_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_max_q	(	struct AttRefQuatInt *	ref,
		float	max_q
	)

Definition at line 259 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_rate, Int32Rates::q, REF_RATE_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_max_qdot	(	struct AttRefQuatInt *	ref,
		float	max_qdot
	)

Definition at line 274 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_accel, Int32Rates::q, REF_ACCEL_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_max_r	(	struct AttRefQuatInt *	ref,
		float	max_r
	)

Definition at line 264 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_rate, Int32Rates::r, REF_RATE_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_max_rdot	(	struct AttRefQuatInt *	ref,
		float	max_rdot
	)

Definition at line 279 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, Int32RefSat::max_accel, Int32Rates::r, REF_ACCEL_FRAC, and AttRefQuatInt::saturation.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_omega	(	struct AttRefQuatInt *	ref,
		struct FloatRates *	omega
	)

Definition at line 222 of file stabilization_attitude_ref_quat_int.c.

References attitude_ref_quat_int_set_omega_p(), attitude_ref_quat_int_set_omega_q(), attitude_ref_quat_int_set_omega_r(), FloatRates::p, FloatRates::q, and FloatRates::r.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_omega_p	(	struct AttRefQuatInt *	ref,
		float	omega_p
	)

Definition at line 204 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, IntRefModel::omega, omega_p, FloatRates::p, and update_ref_model_p().

Referenced by attitude_ref_quat_int_set_omega().

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void attitude_ref_quat_int_set_omega_q	(	struct AttRefQuatInt *	ref,
		float	omega_q
	)

Definition at line 210 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, IntRefModel::omega, omega_q, FloatRates::q, and update_ref_model_q().

Referenced by attitude_ref_quat_int_set_omega().

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void attitude_ref_quat_int_set_omega_r	(	struct AttRefQuatInt *	ref,
		float	omega_r
	)

Definition at line 216 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, IntRefModel::omega, omega_r, FloatRates::r, and update_ref_model_r().

Referenced by attitude_ref_quat_int_set_omega().

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void attitude_ref_quat_int_set_zeta	(	struct AttRefQuatInt *	ref,
		struct FloatRates *	zeta
	)

Definition at line 247 of file stabilization_attitude_ref_quat_int.c.

References attitude_ref_quat_int_set_zeta_p(), attitude_ref_quat_int_set_zeta_q(), attitude_ref_quat_int_set_zeta_r(), FloatRates::p, FloatRates::q, and FloatRates::r.

Referenced by attitude_ref_quat_int_init().

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void attitude_ref_quat_int_set_zeta_p	(	struct AttRefQuatInt *	ref,
		float	zeta_p
	)

Definition at line 229 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, FloatRates::p, update_ref_model_p(), IntRefModel::zeta, and zeta_p.

Referenced by attitude_ref_quat_int_set_zeta().

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void attitude_ref_quat_int_set_zeta_q	(	struct AttRefQuatInt *	ref,
		float	zeta_q
	)

Definition at line 235 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, FloatRates::q, update_ref_model_q(), IntRefModel::zeta, and zeta_q.

Referenced by attitude_ref_quat_int_set_zeta().

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void attitude_ref_quat_int_set_zeta_r	(	struct AttRefQuatInt *	ref,
		float	zeta_r
	)

Definition at line 241 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::model, FloatRates::r, update_ref_model_r(), IntRefModel::zeta, and zeta_r.

Referenced by attitude_ref_quat_int_set_zeta().

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void attitude_ref_quat_int_update	(	struct AttRefQuatInt *	ref,
		struct Int32Quat *	sp_quat,
		float	dt
	)

Propagate reference.

CAUTION! Periodic frequency is assumed to be 512 Hz. FIXME: use dt instead of hardcoded 512Hz via F_UPDATE_RES

Definition at line 100 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::accel, attitude_ref_int_saturate_naive(), AttRefQuatInt::euler, F_UPDATE_RES, int32_eulers_of_quat(), int32_quat_derivative(), INT32_QUAT_FRAC, int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), INT32_RATE_FRAC, AttRefQuatInt::model, OFFSET_AND_ROUND, Int32Rates::p, Int32Rates::q, Int32Quat::qi, AttRefQuatInt::quat, QUAT_ADD, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Rates::r, AttRefQuatInt::rate, RATES_ADD, RATES_SUM, REF_ACCEL_FRAC, REF_RATE_FRAC, AttRefQuatInt::saturation, IntRefModel::two_omega2, TWO_OMEGA_2_RES, IntRefModel::two_zeta_omega, and TWO_ZETA_OMEGA_RES.

Referenced by stabilization_attitude_run().

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static void reset_psi_ref ( struct AttRefQuatInt *  ref, int32_t  psi  )

inlinestatic

Definition at line 162 of file stabilization_attitude_ref_quat_int.c.

References AttRefQuatInt::accel, AttRefQuatInt::euler, Int32Eulers::psi, Int32Rates::r, and AttRefQuatInt::rate.

Referenced by attitude_ref_quat_int_enter().

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static void update_ref_model ( struct AttRefQuatInt *  ref )

static

Definition at line 192 of file stabilization_attitude_ref_quat_int.c.

References update_ref_model_p(), update_ref_model_q(), and update_ref_model_r().

Referenced by attitude_ref_quat_int_init().

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static void update_ref_model_p ( struct AttRefQuatInt *  ref )

static

Definition at line 174 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, AttRefQuatInt::model, IntRefModel::omega, FloatRates::p, Int32Rates::p, IntRefModel::two_omega2, TWO_OMEGA_2_RES, IntRefModel::two_zeta_omega, TWO_ZETA_OMEGA_RES, and IntRefModel::zeta.

Referenced by attitude_ref_quat_int_set_omega_p(), attitude_ref_quat_int_set_zeta_p(), and update_ref_model().

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static void update_ref_model_q ( struct AttRefQuatInt *  ref )

static

Definition at line 180 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, AttRefQuatInt::model, IntRefModel::omega, FloatRates::q, Int32Rates::q, IntRefModel::two_omega2, TWO_OMEGA_2_RES, IntRefModel::two_zeta_omega, TWO_ZETA_OMEGA_RES, and IntRefModel::zeta.

Referenced by attitude_ref_quat_int_set_omega_q(), attitude_ref_quat_int_set_zeta_q(), and update_ref_model().

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static void update_ref_model_r ( struct AttRefQuatInt *  ref )

static

Definition at line 186 of file stabilization_attitude_ref_quat_int.c.

References BFP_OF_REAL, AttRefQuatInt::model, IntRefModel::omega, FloatRates::r, Int32Rates::r, IntRefModel::two_omega2, TWO_OMEGA_2_RES, IntRefModel::two_zeta_omega, TWO_ZETA_OMEGA_RES, and IntRefModel::zeta.

Referenced by attitude_ref_quat_int_set_omega_r(), attitude_ref_quat_int_set_zeta_r(), and update_ref_model().

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