Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
stabilization_attitude_quat_int.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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6  * paparazzi is free software; you can redistribute it and/or modify
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20  */
21 
22 #ifndef STABILIZATION_ATTITUDE_QUAT_INT_H
23 #define STABILIZATION_ATTITUDE_QUAT_INT_H
24 
27 
28 #include "math/pprz_algebra_int.h"
29 
30 extern struct Int32Quat stab_att_sp_quat;
31 extern struct Int32Eulers stab_att_sp_euler;
32 
33 extern struct AttRefQuatInt att_ref_quat_i;
34 
35 /* settings handlers for ref model params */
36 #define stabilization_attitude_quat_int_SetOmegaP(_val) { \
37  attitude_ref_quat_int_set_omega_p(&att_ref_quat_i, _val); \
38  }
39 #define stabilization_attitude_quat_int_SetOmegaQ(_val) { \
40  attitude_ref_quat_int_set_omega_q(&att_ref_quat_i, _val); \
41  }
42 #define stabilization_attitude_quat_int_SetOmegaR(_val) { \
43  attitude_ref_quat_int_set_omega_r(&att_ref_quat_i, _val); \
44  }
45 
46 #define stabilization_attitude_quat_int_SetZetaP(_val) { \
47  attitude_ref_quat_int_set_zeta_p(&att_ref_quat_i, _val); \
48  }
49 #define stabilization_attitude_quat_int_SetZetaQ(_val) { \
50  attitude_ref_quat_int_set_zeta_q(&att_ref_quat_i, _val); \
51  }
52 #define stabilization_attitude_quat_int_SetZetaR(_val) { \
53  attitude_ref_quat_int_set_zeta_r(&att_ref_quat_i, _val); \
54  }
55 
56 #endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */
Int32Quat
Rotation quaternion.
Definition: pprz_algebra_int.h:99
stabilization_attitude_ref_quat_int.h
stab_att_sp_quat
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
Definition: stabilization_attitude_heli_indi.c:127
pprz_algebra_int.h
Paparazzi fixed point algebra.
stabilization_attitude_common_int.h
stab_att_sp_euler
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
Definition: stabilization_attitude_euler_float.c:45
att_ref_quat_i
struct AttRefQuatInt att_ref_quat_i
Definition: stabilization_attitude_quat_int.c:78
Int32Eulers
euler angles
Definition: pprz_algebra_int.h:146
AttRefQuatInt
Attitude reference models and state/output (quat int)
Definition: stabilization_attitude_ref_quat_int.h:49