Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_attitude_quat_float.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
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21 
28 #ifndef STABILIZATION_ATTITUDE_QUAT_FLOAT_H
29 #define STABILIZATION_ATTITUDE_QUAT_FLOAT_H
30 
31 #include "generated/airframe.h"
32 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h"
33 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
34 
35 
36 #ifndef STABILIZATION_ATTITUDE_GAIN_NB
37 #define STABILIZATION_ATTITUDE_GAIN_NB 1
38 #endif
39 
40 #ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
41 #define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
42 #endif
43 
44 extern struct FloatAttitudeGains stabilization_gains[];
45 
46 extern struct FloatEulers stab_att_sp_euler;
47 extern struct FloatQuat stab_att_sp_quat;
48 
49 extern struct AttRefQuatFloat att_ref_quat_f;
50 
51 
52 void stabilization_attitude_gain_schedule(uint8_t idx);
53 
54 /* settings handlers */
55 #define stabilization_attitude_quat_float_SetOmegaP(_val) { \
56  attitude_ref_quat_float_set_omega_p(&att_ref_quat_f, _val); \
57  }
58 #define stabilization_attitude_quat_float_SetOmegaQ(_val) { \
59  attitude_ref_quat_float_set_omega_q(&att_ref_quat_f, _val); \
60  }
61 #define stabilization_attitude_quat_float_SetOmegaR(_val) { \
62  attitude_ref_quat_float_set_omega_r(&att_ref_quat_f, _val); \
63  }
64 
65 #endif /* STABILIZATION_ATTITUDE_QUAT_FLOAT_H */
FloatAttitudeGains
Definition: stabilization_attitude_common_float.h:37
stab_att_sp_euler
struct FloatEulers stab_att_sp_euler
with INT32_ANGLE_FRAC
Definition: stabilization_attitude_euler_float.c:45
stab_att_sp_quat
struct FloatQuat stab_att_sp_quat
with INT32_QUAT_FRAC
Definition: stabilization_attitude_heli_indi.c:127
idx
static uint32_t idx
Definition: nps_radio_control_spektrum.c:105
FloatQuat
Roation quaternion.
Definition: pprz_algebra_float.h:63
stabilization_attitude_ref_quat_float.h
stabilization_gains
struct FloatAttitudeGains stabilization_gains[]
Definition: stabilization_attitude_euler_float.c:42
uint8_t
unsigned char uint8_t
Definition: types.h:14
AttRefQuatFloat
Attitude reference models and state/output (float)
Definition: stabilization_attitude_ref_quat_float.h:50
stabilization_attitude_common_float.h
stabilization_attitude_gain_schedule
void stabilization_attitude_gain_schedule(uint8_t idx)
Definition: stabilization_attitude_quat_float.c:196
att_ref_quat_f
struct AttRefQuatFloat att_ref_quat_f
Definition: stabilization_attitude_quat_float.c:43
FloatEulers
euler angles
Definition: pprz_algebra_float.h:84