#include "firmwares/rotorcraft/stabilization/stabilization_indi_simple.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.h"
#include "state.h"
#include "generated/airframe.h"
#include "paparazzi.h"
#include "subsystems/radio_control.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	STABILIZATION_INDI_FILT_CUTOFF 8.0

#define	STABILIZATION_INDI_FILT_CUTOFF_R STABILIZATION_INDI_FILT_CUTOFF

#define	STABILIZATION_INDI_MAX_RATE 6.0

#define	STABILIZATION_INDI_MAX_R STABILIZATION_ATTITUDE_SP_MAX_R

#define	STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF 4.0

#define	INDI_EST_SCALE 0.001

Functions
static void	stabilization_indi_calc_cmd (int32_t indi_commands[], struct Int32Quat *att_err, bool rate_control)
	Does the INDI calculations. More...

static void	lms_estimation (void)
	This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration. More...

static void	indi_init_filters (void)

static void	send_att_indi (struct transport_tx trans, struct link_device dev)

static void	send_ahrs_ref_quat (struct transport_tx trans, struct link_device dev)

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...

static void	filter_pqr (Butterworth2LowPass filter, struct FloatRates new_values)
	Update butterworth filter for p, q and r of a FloatRates struct. More...

static void	finite_difference_from_filter (float output, Butterworth2LowPass filter)
	Caclulate finite difference form a filter array The filter already contains the previous values. More...

static void	finite_difference (float output[3], float new[3], float old[3])
	Calculate derivative of an array via finite difference. 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 Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...

struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...

static int32_t	stabilization_att_indi_cmd [COMMANDS_NB]

struct IndiVariables	indi

Macro Definition Documentation

#define INDI_EST_SCALE 0.001

Definition at line 83 of file stabilization_indi_simple.c.

Referenced by lms_estimation(), and send_att_indi().

#define STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF 4.0

Definition at line 71 of file stabilization_indi_simple.c.

Referenced by indi_init_filters(), and init_filters().

#define STABILIZATION_INDI_FILT_CUTOFF 8.0

Definition at line 50 of file stabilization_indi_simple.c.

Referenced by indi_init_filters(), and init_filters().

#define STABILIZATION_INDI_FILT_CUTOFF_R STABILIZATION_INDI_FILT_CUTOFF

Definition at line 55 of file stabilization_indi_simple.c.

Referenced by indi_init_filters().

#define STABILIZATION_INDI_MAX_R STABILIZATION_ATTITUDE_SP_MAX_R

Definition at line 67 of file stabilization_indi_simple.c.

#define STABILIZATION_INDI_MAX_RATE 6.0

Definition at line 59 of file stabilization_indi_simple.c.

Function Documentation

static void filter_pqr	(	Butterworth2LowPass *	filter,
		struct FloatRates *	new_values
	)

inlinestatic

Update butterworth filter for p, q and r of a FloatRates struct.

Parameters

filter	The filter array to use
new_values	The new values

Definition at line 249 of file stabilization_indi_simple.c.

References FloatRates::p, FloatRates::q, FloatRates::r, and update_butterworth_2_low_pass().

Referenced by lms_estimation(), and stabilization_indi_calc_cmd().

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static void finite_difference	(	float	output[3],
		float	new[3],
		float	old[3]
	)

inlinestatic

Calculate derivative of an array via finite difference.

Parameters

output[3]	The output array
new[3]	The newest values
old[3]	The values of the previous timestep

Definition at line 277 of file stabilization_indi_simple.c.

Referenced by lms_estimation().

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static void finite_difference_from_filter	(	float *	output,
		Butterworth2LowPass *	filter
	)

inlinestatic

Caclulate finite difference form a filter array The filter already contains the previous values.

Parameters

output	The output array
filter	The filter array input

Definition at line 263 of file stabilization_indi_simple.c.

References SecondOrderLowPass::o.

Referenced by lms_estimation(), and stabilization_indi_calc_cmd().

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void indi_init_filters ( void )

static

Definition at line 167 of file stabilization_indi_simple.c.

References IndiVariables::est, init_butterworth_2_low_pass(), IndiEstimation::rate, IndiVariables::rate, STABILIZATION_INDI_ESTIMATION_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF, STABILIZATION_INDI_FILT_CUTOFF_R, IndiEstimation::u, and IndiVariables::u.

Referenced by stabilization_indi_enter(), and stabilization_indi_init().

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static void lms_estimation ( void )

inlinestatic

This is a Least Mean Squares adaptive filter It estimates the actuator effectiveness online, by comparing the expected angular acceleration based on the inputs with the measured angular acceleration.

Definition at line 437 of file stabilization_indi_simple.c.

References IndiVariables::adaptive, IndiVariables::est, filter_pqr(), finite_difference(), finite_difference_from_filter(), float_vect_copy(), float_vect_scale(), IndiEstimation::g1, IndiVariables::g1, IndiEstimation::g2, IndiVariables::g2, INDI_EST_SCALE, IndiEstimation::mu, FloatRates::p, FloatRates::q, FloatRates::r, IndiEstimation::rate, IndiEstimation::rate_d, IndiEstimation::rate_dd, stateGetBodyRates_f(), IndiEstimation::u, IndiVariables::u_act_dyn, IndiEstimation::u_d, and IndiEstimation::u_dd.

Referenced by stabilization_indi_calc_cmd().

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static void send_ahrs_ref_quat	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 141 of file stabilization_indi_simple.c.

References Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stateGetNedToBodyQuat_i().

Referenced by stabilization_indi_init().

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static void send_att_indi	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 121 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, IndiVariables::est, IndiEstimation::g1, IndiEstimation::g2, INDI_EST_SCALE, FloatRates::p, FloatRates::q, FloatRates::r, IndiVariables::rate_d, and RATES_SMUL.

Referenced by stabilization_indi_init().

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static void stabilization_indi_calc_cmd	(	int32_t	indi_commands[],
		struct Int32Quat *	att_err,
		bool	rate_control
	)

inlinestatic

Does the INDI calculations.

Parameters

indi_commands[]	Array of commands that the function will write to
att_err	quaternion attitude error
rate_control	rate control enabled, otherwise attitude control

Definition at line 291 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, IndiVariables::attitude_max_yaw_rate, IndiVariables::du, ReferenceSystem::err_p, ReferenceSystem::err_q, ReferenceSystem::err_r, filter_pqr(), finite_difference_from_filter(), FLOAT_RATES_ZERO, IndiVariables::g1, IndiVariables::g2, lms_estimation(), MAX_PPRZ, IndiVariables::max_rate, SecondOrderLowPass::o, FloatRates::p, FloatRates::q, QUAT1_FLOAT_OF_BFP, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, IndiVariables::rate, IndiVariables::rate_d, ReferenceSystem::rate_p, ReferenceSystem::rate_q, ReferenceSystem::rate_r, RATES_COPY, IndiVariables::reference_acceleration, stabilization_cmd, stateGetBodyRates_f(), IndiVariables::u, IndiVariables::u_act_dyn, IndiVariables::u_in, and RadioControl::values.

Referenced by stabilization_indi_run().

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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 184 of file stabilization_indi_simple.c.

References IndiVariables::angular_accel_ref, ddu_estimation, du_estimation, FLOAT_RATES_ZERO, float_vect_zero(), indi_init_filters(), Int32Eulers::psi, stab_att_sp_euler, stabilization_attitude_get_heading_i(), IndiVariables::u_act_dyn, and IndiVariables::u_in.