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stabilization_indi.h
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1 /*
2  * Copyright (C) Ewoud Smeur <ewoud_smeur@msn.com>
3  * MAVLab Delft University of Technology
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22 
23 #ifndef STABILIZATION_INDI
24 #define STABILIZATION_INDI
25 
28 
29 // Scaling for the control effectiveness to make it readible
30 #define INDI_G_SCALING 1000.0
31 
32 extern struct Int32Quat stab_att_sp_quat;
33 extern struct Int32Eulers stab_att_sp_euler;
34 extern float g1g2[INDI_OUTPUTS][INDI_NUM_ACT];
35 extern float actuator_state_filt_vect[INDI_NUM_ACT];
36 
37 extern bool indi_use_adaptive;
38 
39 extern float *Bwls[INDI_OUTPUTS];
40 
41 struct Indi_gains {
42  struct FloatRates att;
43  struct FloatRates rate;
44 };
45 
46 extern struct Indi_gains indi_gains;
47 
48 extern void stabilization_indi_init(void);
49 extern void stabilization_indi_enter(void);
51 extern void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy);
53 extern void stabilization_indi_rate_run(struct FloatRates rate_ref, bool in_flight);
54 extern void stabilization_indi_attitude_run(struct Int32Quat quat_sp, bool in_flight);
55 extern void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
56 
57 #endif /* STABILIZATION_INDI */
58 
float * Bwls[INDI_OUTPUTS]
void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
Set attitude setpoint from command in earth axes.
bool indi_use_adaptive
struct FloatRates att
float heading
Definition: wedgebug.c:258
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
struct Indi_gains indi_gains
void stabilization_indi_rate_run(struct FloatRates rate_ref, bool in_flight)
Does the INDI calculations.
void stabilization_indi_attitude_run(struct Int32Quat quat_sp, bool in_flight)
runs stabilization indi
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
Set attitude quaternion setpoint from rpy.
void stabilization_indi_set_failsafe_setpoint(void)
Function that calculates the failsafe setpoint.
Common data structures shared by euler and quaternion int implementations.
float actuator_state_filt_vect[INDI_NUM_ACT]
euler angles
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
signed long int32_t
Definition: types.h:19
void stabilization_indi_enter(void)
Function that resets important values upon engaging INDI.
struct FloatRates rate
void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
This function reads rc commands.
Rotorcraft attitude reference generation.
Rotation quaternion.
angular rates
float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]
void stabilization_indi_init(void)
Function that initializes important values upon engaging INDI.