Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_rotorcraft module

Base stabilization code for rotorcraft

Also provide the direct mode 'stabilization_none' As a durty hack, it also provides navigation and guidance: this should be done in the airframe at some point

Example for airframe file

Add to your firmware section:

1 <module name="stabilization_rotorcraft"/>

Module configuration options

Airframe file section

  • section name: STABILIZATION_FILTER_CMD prefix: STABILIZATION_FILTER_CMD_
    • name ROLL_PITCH value: 0
      Description: roll and pitch command filter toggle
    • name YAW value: 0
      Description: yaw command filter toggle
    • name ROLL_CUTOFF value: 20.0
      Description: roll command filter cut-off
    • name PITCH_CUTOFF value: 20.0
      Description: pitch command filter cut-off
    • name YAW_CUTOFF value: 20.0
      Description: yaw command filter cut-off

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

  • /stabilization.c
  • /stabilization/stabilization_none.c

Raw stabilization_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_rotorcraft" dir="stabilization">
<doc>
<description>
Base stabilization code for rotorcraft
Also provide the direct mode 'stabilization_none'
As a durty hack, it also provides navigation and guidance: this should be done in the airframe at some point
</description>
<section name="STABILIZATION_FILTER_CMD" prefix="STABILIZATION_FILTER_CMD_">
<define name="ROLL_PITCH" value="0" description="roll and pitch command filter toggle" unit="bool"/>
<define name="YAW" value="0" description="yaw command filter toggle" unit="bool"/>
<define name="ROLL_CUTOFF" value="20.0" description="roll command filter cut-off" unit="Hz"/>
<define name="PITCH_CUTOFF" value="20.0" description="pitch command filter cut-off" unit="Hz"/>
<define name="YAW_CUTOFF" value="20.0" description="yaw command filter cut-off" unit="Hz"/>
</section>
</doc>
<dep>
<depends>nav_basic_rotorcraft</depends>
</dep>
<header>
<file name="stabilization.h" dir="firmwares/rotorcraft"/>
<file name="stabilization_none.h"/>
</header>
<init fun="stabilization_init()"/>
<init fun="stabilization_none_init()"/>
<makefile target="ap|nps|hitl" firmware="rotorcraft">
<file name="stabilization.c" dir="$(SRC_FIRMWARE)"/>
<file name="stabilization_none.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>