stabilization_rate_indi.c File Reference

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur. More...

#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"

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Functions
void	stabilization_rate_init (void)
void	stabilization_rate_read_rc (void)
void	stabilization_rate_read_rc_switched_sticks (void)
void	stabilization_rate_enter (void)
void	stabilization_rate_run (bool in_flight)

Detailed Description

Rate stabilization for rotorcrafts based on INDI by Ewoud Smeur.

Definition in file stabilization_rate_indi.c.

Function Documentation

void stabilization_rate_enter

(

void

)

Definition at line 51 of file stabilization_rate_indi.c.

References FLOAT_RATES_ZERO, stabilization_indi_enter(), and stabilization_rate_sum_err.

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void stabilization_rate_init

(

void

)

Definition at line 34 of file stabilization_rate_indi.c.

References DefaultPeriodic, FLOAT_RATES_ZERO, RATES_ASSIGN, register_periodic_telemetry(), send_rate(), stabilization_indi_init(), stabilization_rate_gain, stabilization_rate_igain, STABILIZATION_RATE_IGAIN_P, STABILIZATION_RATE_IGAIN_Q, STABILIZATION_RATE_IGAIN_R, stabilization_rate_sp, and stabilization_rate_sum_err.

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void stabilization_rate_read_rc

(

void

)

Definition at line 40 of file stabilization_rate_indi.c.

References MAX_PPRZ, FloatRates::p, PITCH_RATE_DEADBAND_EXCEEDED, FloatRates::q, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, ROLL_RATE_DEADBAND_EXCEEDED, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

void stabilization_rate_read_rc_switched_sticks

(

void

)

Definition at line 46 of file stabilization_rate_indi.c.

References MAX_PPRZ, FloatRates::p, PITCH_RATE_DEADBAND_EXCEEDED, FloatRates::q, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, ROLL_RATE_DEADBAND_EXCEEDED, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

void stabilization_rate_run

(

bool

in_flight

)

Definition at line 56 of file stabilization_rate_indi.c.

References FLOAT_RATES_ZERO, MAX_PPRZ, MAX_SUM_ERR, FloatRates::p, FloatRates::q, FloatRates::r, RATES_ADD, RATES_BOUND_CUBE, RATES_DIFF, RATES_SDIV, stabilization_cmd, stabilization_indi_run(), stabilization_rate_fb_cmd, stabilization_rate_gain, stabilization_rate_igain, stabilization_rate_sp, stabilization_rate_sum_err, stateGetBodyRates_f(), and TRUE.

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