stabilization_attitude_heli_indi.h File Reference

#include "math/pprz_algebra_int.h"
#include "filters/notch_filter.h"
#include "filters/delayed_first_order_lowpass_filter.h"

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Data Structures
struct	HeliIndiGains
struct	IndiController_int

Macros
#define	__k   1
#define	INDI_NR_FILTERS   2
#define	INDI_DOF   4
#define	INDI_ROLL   0
#define	INDI_PITCH   1
#define	INDI_YAW   2
#define	INDI_THRUST   3
#define	INDI_YAW_BUFFER_SIZE   9

Functions
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 (void)
	stabilization_attitude_heli_indi_set_steadystate_pitchroll More...

Variables
struct delayed_first_order_lowpass_filter_t	actuator_model [INDI_DOF]
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct HeliIndiGains	heli_indi_gains

---

Data Structure Documentation

HeliIndiGains

struct HeliIndiGains

Definition at line 39 of file stabilization_attitude_heli_indi.h.

Data Fields
int32_t	pitch_p
int32_t	roll_p
int32_t	yaw_d
int32_t	yaw_p

Macro Definition Documentation

__k

#define __k   1

Definition at line 30 of file stabilization_attitude_heli_indi.h.

INDI_DOF

#define INDI_DOF   4

Definition at line 32 of file stabilization_attitude_heli_indi.h.

INDI_NR_FILTERS

#define INDI_NR_FILTERS   2

Definition at line 31 of file stabilization_attitude_heli_indi.h.

INDI_PITCH

#define INDI_PITCH   1

Definition at line 34 of file stabilization_attitude_heli_indi.h.

INDI_ROLL

#define INDI_ROLL   0

Definition at line 33 of file stabilization_attitude_heli_indi.h.

INDI_THRUST

#define INDI_THRUST   3

Definition at line 36 of file stabilization_attitude_heli_indi.h.

INDI_YAW

#define INDI_YAW   2

Definition at line 35 of file stabilization_attitude_heli_indi.h.

INDI_YAW_BUFFER_SIZE

#define INDI_YAW_BUFFER_SIZE   9

Definition at line 37 of file stabilization_attitude_heli_indi.h.

Function Documentation

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().

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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().

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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().

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Variable Documentation

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().

heli_indi_gains

struct HeliIndiGains heli_indi_gains

Definition at line 131 of file stabilization_attitude_heli_indi.c.

Referenced by stabilization_attitude_run().

stab_att_sp_euler

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 45 of file stabilization_attitude_euler_float.c.

stab_att_sp_quat

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 127 of file stabilization_attitude_heli_indi.c.