#include "paparazzi.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_simple_matrix.h"
#include "state.h"
#include "generated/airframe.h"
#include "autopilot.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.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 "filters/low_pass_filter.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for stabilization_attitude_heli_indi.c:

Macros
#define	STABILIZATION_ATTITUDE_HELI_INDI_USE_NOTCHFILTER 0

#define	STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_ROLL 4.5

#define	STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_PITCH 0

#define	STABILIZATION_ATTITUDE_HELI_INDI_ROLL_P 12

#define	STABILIZATION_ATTITUDE_HELI_INDI_PITCH_P 8

#define	STABILIZATION_ATTITUDE_HELI_INDI_YAW_P 10

#define	STABILIZATION_ATTITUDE_HELI_INDI_YAW_D 30

#define	STABILIZATION_ATTITUDE_HELI_INDI_GINV_ROLL_TO_ROLL 11681

#define	STABILIZATION_ATTITUDE_HELI_INDI_GINV_PITCH_TO_PITCH 13873

#define	STABILIZATION_ATTITUDE_HELI_INDI_GINV_YAW_TO_YAW 730

#define	STABILIZATION_ATTITUDE_HELI_INDI_ROLL_COMMAND_ROTATION 11.0

#define	STABILIZATION_ATTITUDE_HELI_INDI_PITCH_COMMAND_ROTATION -30.0

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT 10.0

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_ROLL STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_PITCH STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_YAW STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_THRUST STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT 40.0

#define	STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_ROLL STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_PITCH STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_YAW STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_THRUST STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

#define	STABILIZATION_ATTITUDE_HELI_INDI_NOTCH_MIN_RPM 1500

#define	INDI_NOTCH_MIN_RPM STABILIZATION_ATTITUDE_HELI_INDI_NOTCH_MIN_RPM

#define	INVG_00 STABILIZATION_ATTITUDE_HELI_INDI_GINV_ROLL_TO_ROLL

#define	INVG_11 STABILIZATION_ATTITUDE_HELI_INDI_GINV_PITCH_TO_PITCH

#define	INVG_22 STABILIZATION_ATTITUDE_HELI_INDI_GINV_YAW_TO_YAW

#define	INVG_33 -50000

#define	INT32_INVG_FRAC 16

Functions
void	indi_apply_actuator_notch_filters (int32_t _out[], int32_t _in[])

void	indi_apply_measurement_notch_filters (int32_t _out[], int32_t _in[])

void	indi_apply_actuator_butterworth_filters (int32_t _out[], int32_t _in[])

void	indi_apply_measurement_butterworth_filters (int32_t _out[], int32_t _in[])

static void	indi_apply_actuator_models (int32_t _out[], int32_t _in[])

static void	indi_apply_compensator_filters (int32_t _out[], int32_t _in[])
	The main idea of this function is to slow down a certain actuator, so that the actuator dynamics filtered by the compensater are equal to another slower actuator. More...

static void	indi_apply_notch_filters (struct SecondOrderNotchFilter *filter, int32_t _out[], int32_t _in[])

void	stabilization_attitude_heli_indi_set_steadystate_pitch (float pitch)
	stabilization_attitude_heli_indi_set_steadystate_pitch More...

void	stabilization_attitude_heli_indi_set_steadystate_roll (float roll)
	stabilization_attitude_heli_indi_set_steadystate_roll More...

void	stabilization_attitude_heli_indi_set_steadystate_pitchroll ()
	stabilization_attitude_heli_indi_set_steadystate_pitchroll More...

void	stabilization_attitude_init (void)
	stabilization_attitude_init More...

void	stabilization_attitude_run (bool in_flight)

void	stabilization_attitude_enter (void)

void	stabilization_attitude_set_failsafe_setpoint (void)

void	stabilization_attitude_set_rpy_setpoint_i (struct Int32Eulers *rpy)

void	stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)

void	stabilization_attitude_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)

Variables
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...

struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...

struct Int32Quat	sp_offset

struct HeliIndiGains	heli_indi_gains

struct IndiController_int	heli_indi_ctl

struct delayed_first_order_lowpass_filter_t	actuator_model [INDI_DOF]

int32_t	alpha_yaw_inc

int32_t	alpha_yaw_dec

Butterworth2LowPass_int	actuator_lowpass_filters [INDI_DOF]

Butterworth2LowPass_int	measurement_lowpass_filters [INDI_DOF]

struct SecondOrderNotchFilter	actuator_notchfilter [INDI_DOF]

struct SecondOrderNotchFilter	measurement_notchfilter [INDI_DOF]

Detailed Description

Helicopter quaternion INDI attitude stabilization

Definition in file stabilization_attitude_heli_indi.c.

Macro Definition Documentation

◆ INDI_NOTCH_MIN_RPM

#define INDI_NOTCH_MIN_RPM STABILIZATION_ATTITUDE_HELI_INDI_NOTCH_MIN_RPM

Definition at line 118 of file stabilization_attitude_heli_indi.c.

◆ INT32_INVG_FRAC

#define INT32_INVG_FRAC 16

Definition at line 125 of file stabilization_attitude_heli_indi.c.

◆ INVG_00

#define INVG_00 STABILIZATION_ATTITUDE_HELI_INDI_GINV_ROLL_TO_ROLL

Definition at line 121 of file stabilization_attitude_heli_indi.c.

◆ INVG_11

#define INVG_11 STABILIZATION_ATTITUDE_HELI_INDI_GINV_PITCH_TO_PITCH

Definition at line 122 of file stabilization_attitude_heli_indi.c.

◆ INVG_22

#define INVG_22 STABILIZATION_ATTITUDE_HELI_INDI_GINV_YAW_TO_YAW

Definition at line 123 of file stabilization_attitude_heli_indi.c.

◆ INVG_33

#define INVG_33 -50000

Definition at line 124 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

#define STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT 40.0

Definition at line 101 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_PITCH

#define STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_PITCH STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

Definition at line 107 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_ROLL

#define STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_ROLL STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

Definition at line 104 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_THRUST

#define STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_THRUST STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

Definition at line 113 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_YAW

#define STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_YAW STABILIZATION_ATTITUDE_HELI_INDI_BUTTERW_CUTOFF_DEFAULT

Definition at line 110 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_GINV_PITCH_TO_PITCH

#define STABILIZATION_ATTITUDE_HELI_INDI_GINV_PITCH_TO_PITCH 13873

Definition at line 74 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_GINV_ROLL_TO_ROLL

#define STABILIZATION_ATTITUDE_HELI_INDI_GINV_ROLL_TO_ROLL 11681

Definition at line 71 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_GINV_YAW_TO_YAW

#define STABILIZATION_ATTITUDE_HELI_INDI_GINV_YAW_TO_YAW 730

Definition at line 77 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCH_MIN_RPM

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCH_MIN_RPM 1500

Definition at line 116 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT 10.0

Definition at line 86 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_PITCH

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_PITCH STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

Definition at line 92 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_ROLL

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_ROLL STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

Definition at line 89 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_THRUST

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_THRUST STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

Definition at line 98 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_YAW

#define STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_YAW STABILIZATION_ATTITUDE_HELI_INDI_NOTCHFILT_BW_DEFAULT

Definition at line 95 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_PITCH_COMMAND_ROTATION

#define STABILIZATION_ATTITUDE_HELI_INDI_PITCH_COMMAND_ROTATION -30.0

Definition at line 83 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_PITCH_P

#define STABILIZATION_ATTITUDE_HELI_INDI_PITCH_P 8

Definition at line 62 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_ROLL_COMMAND_ROTATION

#define STABILIZATION_ATTITUDE_HELI_INDI_ROLL_COMMAND_ROTATION 11.0

Definition at line 80 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_ROLL_P

#define STABILIZATION_ATTITUDE_HELI_INDI_ROLL_P 12

Definition at line 59 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_PITCH

#define STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_PITCH 0

Definition at line 56 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_ROLL

#define STABILIZATION_ATTITUDE_HELI_INDI_STEADY_STATE_ROLL 4.5

Definition at line 53 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_USE_NOTCHFILTER

#define STABILIZATION_ATTITUDE_HELI_INDI_USE_NOTCHFILTER 0

Definition at line 42 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_YAW_D

#define STABILIZATION_ATTITUDE_HELI_INDI_YAW_D 30

Definition at line 68 of file stabilization_attitude_heli_indi.c.

◆ STABILIZATION_ATTITUDE_HELI_INDI_YAW_P

#define STABILIZATION_ATTITUDE_HELI_INDI_YAW_P 10

Definition at line 65 of file stabilization_attitude_heli_indi.c.

Function Documentation

◆ indi_apply_actuator_butterworth_filters()

void indi_apply_actuator_butterworth_filters	(	int32_t	_out[],
		int32_t	_in[]
	)

Definition at line 278 of file stabilization_attitude_heli_indi.c.

References actuator_lowpass_filters, INDI_DOF, and update_butterworth_2_low_pass_int().

Referenced by stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ indi_apply_actuator_models()

static void indi_apply_actuator_models	(	int32_t	_out[],
		int32_t	_in[]
	)

inlinestatic

Definition at line 167 of file stabilization_attitude_heli_indi.c.

References actuator_model, delayed_first_order_lowpass_filter_t::alpha, alpha_yaw_dec, alpha_yaw_inc, delayed_first_order_lowpass_filter_t::buffer, delayed_first_order_lowpass_propagate(), delayed_first_order_lowpass_filter_t::idx, INDI_PITCH, INDI_ROLL, INDI_THRUST, and INDI_YAW.

Referenced by stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ indi_apply_actuator_notch_filters()

void indi_apply_actuator_notch_filters	(	int32_t	_out[],
		int32_t	_in[]
	)

Definition at line 268 of file stabilization_attitude_heli_indi.c.

References actuator_notchfilter, and indi_apply_notch_filters().

Referenced by stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ indi_apply_compensator_filters()

static void indi_apply_compensator_filters	(	int32_t	_out[],
		int32_t	_in[]
	)

inlinestatic

The main idea of this function is to slow down a certain actuator, so that the actuator dynamics filtered by the compensater are equal to another slower actuator.

In this case, the tail rotor is slower than collective pitch. The collective pitch signal can be reduced so that the total dynamics match the dynamics of the tail rotor. This prevents the tail from breaking out. But at the moment thrust is not implemented so this is not used.

Definition at line 206 of file stabilization_attitude_heli_indi.c.

References actuator_model, delayed_first_order_lowpass_filter_t::alpha, alpha, alpha_yaw_dec, alpha_yaw_inc, DELAYED_FIRST_ORDER_LOWPASS_FILTER_FILTER_ALPHA_SHIFT, INDI_PITCH, INDI_ROLL, INDI_THRUST, INDI_YAW, and INDI_YAW_BUFFER_SIZE.

Referenced by stabilization_attitude_init().

Here is the caller graph for this function:

◆ indi_apply_measurement_butterworth_filters()

void indi_apply_measurement_butterworth_filters	(	int32_t	_out[],
		int32_t	_in[]
	)

Definition at line 285 of file stabilization_attitude_heli_indi.c.

References INDI_DOF, measurement_lowpass_filters, and update_butterworth_2_low_pass_int().

Referenced by stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ indi_apply_measurement_notch_filters()

void indi_apply_measurement_notch_filters	(	int32_t	_out[],
		int32_t	_in[]
	)

Definition at line 273 of file stabilization_attitude_heli_indi.c.

References indi_apply_notch_filters(), and measurement_notchfilter.

Referenced by stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ indi_apply_notch_filters()

static void indi_apply_notch_filters	(	struct SecondOrderNotchFilter *	filter,
		int32_t	_out[],
		int32_t	_in[]
	)

inlinestatic

Definition at line 249 of file stabilization_attitude_heli_indi.c.

References IndiController_int::enable_notch, heli_indi_ctl, INDI_NOTCH_MIN_RPM, INDI_PITCH, INDI_ROLL, INDI_THRUST, INDI_YAW, IndiController_int::motor_rpm, notch_filter_set_filter_frequency(), and notch_filter_update().

Referenced by indi_apply_actuator_notch_filters(), and indi_apply_measurement_notch_filters().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stabilization_attitude_enter()

void stabilization_attitude_enter ( void )

Definition at line 565 of file stabilization_attitude_heli_indi.c.

References Int32Eulers::psi, stab_att_sp_euler, and stabilization_attitude_get_heading_i().

Here is the call graph for this function:

◆ stabilization_attitude_heli_indi_set_steadystate_pitch()

void stabilization_attitude_heli_indi_set_steadystate_pitch ( float pitch )

stabilization_attitude_heli_indi_set_steadystate_pitch

Parameters

pitch neutral pitch angle [deg].

Change the neutral pitch angle.

Definition at line 298 of file stabilization_attitude_heli_indi.c.

References heli_indi_ctl, IndiController_int::sp_offset_pitch, and stabilization_attitude_heli_indi_set_steadystate_pitchroll().

Here is the call graph for this function:

◆ stabilization_attitude_heli_indi_set_steadystate_pitchroll()

void stabilization_attitude_heli_indi_set_steadystate_pitchroll ( )

stabilization_attitude_heli_indi_set_steadystate_pitchroll

Updates the neutral pitch and roll angles and calculates the compensation quaternion.

Definition at line 323 of file stabilization_attitude_heli_indi.c.

References float_quat_of_orientation_vect(), heli_indi_ctl, QUAT_BFP_OF_REAL, sp_offset, IndiController_int::sp_offset_pitch, IndiController_int::sp_offset_roll, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stabilization_attitude_heli_indi_set_steadystate_pitch(), stabilization_attitude_heli_indi_set_steadystate_roll(), and stabilization_attitude_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stabilization_attitude_heli_indi_set_steadystate_roll()

void stabilization_attitude_heli_indi_set_steadystate_roll ( float roll )

stabilization_attitude_heli_indi_set_steadystate_roll

Parameters

roll	neutral roll angle [deg].

Change the neutral roll angle. Especially useful for helicopters, since they need a small roll angle in hover to compensate the tail force.

Definition at line 311 of file stabilization_attitude_heli_indi.c.

References heli_indi_ctl, IndiController_int::sp_offset_roll, and stabilization_attitude_heli_indi_set_steadystate_pitchroll().

Here is the call graph for this function:

◆ stabilization_attitude_init()

void stabilization_attitude_init ( void )

stabilization_attitude_init

Initialize the heli indi attitude controller.

Definition at line 342 of file stabilization_attitude_heli_indi.c.

Here is the call graph for this function:

◆ stabilization_attitude_read_rc()

void stabilization_attitude_read_rc	(	bool	in_flight,
		bool	in_carefree,
		bool	coordinated_turn
	)

Definition at line 606 of file stabilization_attitude_heli_indi.c.

References QUAT_BFP_OF_REAL, stab_att_sp_quat, stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), and stabilization_attitude_read_rc_setpoint_quat_f().

Here is the call graph for this function:

◆ stabilization_attitude_run()

void stabilization_attitude_run ( bool in_flight )

Definition at line 434 of file stabilization_attitude_heli_indi.c.

References __k, autopilot_get_motors_on(), c(), IndiController_int::enable_notch, heli_indi_ctl, heli_indi_gains, INDI_DOF, INDI_NR_FILTERS, INDI_PITCH, INDI_ROLL, INDI_THRUST, INDI_YAW, INT32_INVG_FRAC, int32_quat_comp_inv(), int32_quat_inv_comp(), int32_quat_normalize(), int32_quat_wrap_shortest(), int32_rmat_vmult(), int32_vect_copy(), int32_vect_diff(), int32_vect_sum(), MAT_MUL_VECT, MAX_PPRZ, IndiController_int::motor_rpm, Int32Rates::p, HeliIndiGains::pitch_p, pprz_itrig_cos(), pprz_itrig_sin(), Int32Rates::q, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Rates::r, HeliIndiGains::roll_p, rpm_sensor_get_rpm(), sp_offset, stab_att_sp_quat, stabilization_cmd, stateGetAccelNed_i(), stateGetBodyRates_i(), stateGetNedToBodyQuat_i(), stateGetNedToBodyRMat_i(), NedCoor_i::x, Int32Vect3::x, NedCoor_i::y, Int32Vect3::y, HeliIndiGains::yaw_d, HeliIndiGains::yaw_p, NedCoor_i::z, and Int32Vect3::z.

Here is the call graph for this function:

◆ stabilization_attitude_set_earth_cmd_i()

void stabilization_attitude_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 589 of file stabilization_attitude_heli_indi.c.

References heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, quat_from_earth_cmd_i(), stab_att_sp_euler, stab_att_sp_quat, stateGetNedToBodyEulers_i(), Int32Eulers::theta, Int32Vect2::x, and Int32Vect2::y.

Here is the call graph for this function:

◆ stabilization_attitude_set_failsafe_setpoint()

void stabilization_attitude_set_failsafe_setpoint ( void )

Definition at line 571 of file stabilization_attitude_heli_indi.c.

References PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stabilization_attitude_get_heading_i().

Here is the call graph for this function:

◆ stabilization_attitude_set_rpy_setpoint_i()

void stabilization_attitude_set_rpy_setpoint_i ( struct Int32Eulers * rpy )

Definition at line 581 of file stabilization_attitude_heli_indi.c.

References int32_quat_of_eulers(), stab_att_sp_euler, and stab_att_sp_quat.

Here is the call graph for this function:

Variable Documentation

◆ actuator_lowpass_filters

Butterworth2LowPass_int actuator_lowpass_filters[INDI_DOF]

Definition at line 146 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_actuator_butterworth_filters(), and stabilization_attitude_init().

◆ actuator_model

struct delayed_first_order_lowpass_filter_t actuator_model[INDI_DOF]

Definition at line 142 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_actuator_models(), indi_apply_compensator_filters(), and stabilization_attitude_init().

◆ actuator_notchfilter

struct SecondOrderNotchFilter actuator_notchfilter[INDI_DOF]

Definition at line 148 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_actuator_notch_filters(), and stabilization_attitude_init().

◆ alpha_yaw_dec

int32_t alpha_yaw_dec

Definition at line 144 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_actuator_models(), indi_apply_compensator_filters(), and stabilization_attitude_init().

◆ alpha_yaw_inc

int32_t alpha_yaw_inc

Definition at line 143 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_actuator_models(), indi_apply_compensator_filters(), and stabilization_attitude_init().

◆ heli_indi_ctl

struct IndiController_int heli_indi_ctl

Definition at line 139 of file stabilization_attitude_heli_indi.c.

Referenced by indi_apply_notch_filters(), stabilization_attitude_heli_indi_set_steadystate_pitch(), stabilization_attitude_heli_indi_set_steadystate_pitchroll(), stabilization_attitude_heli_indi_set_steadystate_roll(), stabilization_attitude_init(), and stabilization_attitude_run().

◆ heli_indi_gains

struct HeliIndiGains heli_indi_gains

Initial value:

= {
  STABILIZATION_ATTITUDE_HELI_INDI_ROLL_P,
  STABILIZATION_ATTITUDE_HELI_INDI_PITCH_P,
  STABILIZATION_ATTITUDE_HELI_INDI_YAW_P,
  STABILIZATION_ATTITUDE_HELI_INDI_YAW_D
}

Definition at line 131 of file stabilization_attitude_heli_indi.c.

Referenced by stabilization_attitude_run().