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stabilization_indi.h File Reference
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Data Structures

struct  Indi_gains
 

Macros

#define INDI_G_SCALING   1000.0
 

Functions

void stabilization_indi_init (void)
 Function that initializes important values upon engaging INDI. More...
 
void stabilization_indi_enter (void)
 Function that resets important values upon engaging INDI. More...
 
void stabilization_indi_set_failsafe_setpoint (void)
 Function that calculates the failsafe setpoint. More...
 
void stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
 Set attitude quaternion setpoint from rpy. More...
 
void stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
 Set attitude setpoint from command in earth axes. More...
 
void stabilization_indi_rate_run (struct FloatRates rate_ref, bool in_flight)
 Does the INDI calculations. More...
 
void stabilization_indi_attitude_run (struct Int32Quat quat_sp, bool in_flight)
 runs stabilization indi More...
 
void stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 This function reads rc commands. More...
 

Variables

struct Int32Quat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
 
struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
float g1g2 [INDI_OUTPUTS][INDI_NUM_ACT]
 
float actuator_state_filt_vect [INDI_NUM_ACT]
 
bool indi_use_adaptive
 
float * Bwls [INDI_OUTPUTS]
 
struct Indi_gains indi_gains
 

Data Structure Documentation

struct Indi_gains

Definition at line 41 of file stabilization_indi.h.

+ Collaboration diagram for Indi_gains:
Data Fields
struct FloatRates att
struct FloatRates rate

Macro Definition Documentation

#define INDI_G_SCALING   1000.0

Function Documentation

void stabilization_indi_attitude_run ( struct Int32Quat  quat_sp,
bool  in_flight 
)

runs stabilization indi

Parameters
enable_integrator
rate_controlboolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Parameters
in_flightnot used
rate_controlrate control enabled, otherwise attitude control

Definition at line 496 of file stabilization_indi.c.

void stabilization_indi_enter ( void  )

Function that resets important values upon engaging INDI.

Don't reset inputs and filters, because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying. FIXME: Ideally we should detect when coming from something that is not INDI

Definition at line 256 of file stabilization_indi.c.

void stabilization_indi_init ( void  )

Function that initializes important values upon engaging INDI.

Definition at line 206 of file stabilization_indi.c.

void stabilization_indi_rate_run ( struct FloatRates  rate_sp,
bool  in_flight 
)

Does the INDI calculations.

Parameters
att_errattitude error
rate_controlboolean that states if we are in rate control or attitude control
in_flightboolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Parameters
indi_commands[]Array of commands that the function will write to
att_errquaternion attitude error

Definition at line 347 of file stabilization_indi.c.

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

This function reads rc commands.

Parameters
in_flightboolean that states if the UAV is in flight or not

Definition at line 525 of file stabilization_indi.c.

void stabilization_indi_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)

Set attitude setpoint from command in earth axes.

Parameters
cmd2D command in North East axes
headingHeading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Parameters
cmdThe command in earth axes (North East)
headingThe desired heading

Definition at line 323 of file stabilization_indi.c.

void stabilization_indi_set_failsafe_setpoint ( void  )

Function that calculates the failsafe setpoint.

Definition at line 294 of file stabilization_indi.c.

void stabilization_indi_set_rpy_setpoint_i ( struct Int32Eulers rpy)

Set attitude quaternion setpoint from rpy.

Parameters
rpyrpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Parameters
rpyroll pitch yaw input

Definition at line 309 of file stabilization_indi.c.

Variable Documentation

float actuator_state_filt_vect[INDI_NUM_ACT]
float* Bwls[INDI_OUTPUTS]
float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]
struct Indi_gains indi_gains

Definition at line 66 of file stabilization_indi.c.

Referenced by ctrl_eff_scheduling_periodic_b().

bool indi_use_adaptive

Definition at line 82 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 45 of file stabilization_attitude_euler_float.c.

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 127 of file stabilization_attitude_heli_indi.c.