stabilization_rate.c File Reference

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "state.h"
#include "subsystems/imu.h"
#include "subsystems/radio_control.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	MAX_SUM_ERR   40000
#define	STABILIZATION_RATE_IGAIN_P   0
#define	STABILIZATION_RATE_IGAIN_Q   0
#define	STABILIZATION_RATE_IGAIN_R   0
#define	OFFSET_AND_ROUND(_a, _b)   (((_a)+(1<<((_b)-1)))>>(_b))
#define	OFFSET_AND_ROUND2(_a, _b)   (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
#define	STABILIZATION_RATE_DEADBAND_P   0
#define	STABILIZATION_RATE_DEADBAND_Q   0
#define	STABILIZATION_RATE_DEADBAND_R   200
#define	ROLL_RATE_DEADBAND_EXCEEDED()
#define	PITCH_RATE_DEADBAND_EXCEEDED()
#define	YAW_RATE_DEADBAND_EXCEEDED()

Functions
static void	send_rate (struct transport_tx *trans, struct link_device *dev)
void	stabilization_rate_init (void)
void	stabilization_rate_read_rc (void)
void	stabilization_rate_read_rc_switched_sticks (void)
void	stabilization_rate_enter (void)
void	stabilization_rate_run (bool in_flight)

Variables
struct FloatRates	stabilization_rate_sp
struct FloatRates	stabilization_rate_gain
struct FloatRates	stabilization_rate_igain
struct FloatRates	stabilization_rate_sum_err
struct FloatRates	stabilization_rate_fb_cmd

Detailed Description

Rate stabilization for rotorcrafts.

Control loops for angular velocity.

Definition in file stabilization_rate.c.

Macro Definition Documentation

MAX_SUM_ERR

#define MAX_SUM_ERR   40000

Definition at line 40 of file stabilization_rate.c.

OFFSET_AND_ROUND

#define OFFSET_AND_ROUND	(		_a,
			_b
	)		(((_a)+(1<<((_b)-1)))>>(_b))

Definition at line 64 of file stabilization_rate.c.

OFFSET_AND_ROUND2

#define OFFSET_AND_ROUND2	(		_a,
			_b
	)		(((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))

Definition at line 65 of file stabilization_rate.c.

PITCH_RATE_DEADBAND_EXCEEDED

#define PITCH_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_PITCH] >  STABILIZATION_RATE_DEADBAND_Q || \
   radio_control.values[RADIO_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)

Definition at line 88 of file stabilization_rate.c.

ROLL_RATE_DEADBAND_EXCEEDED

#define ROLL_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_ROLL] >  STABILIZATION_RATE_DEADBAND_P || \
   radio_control.values[RADIO_ROLL] < -STABILIZATION_RATE_DEADBAND_P)

Definition at line 84 of file stabilization_rate.c.

STABILIZATION_RATE_DEADBAND_P

#define STABILIZATION_RATE_DEADBAND_P   0

Definition at line 75 of file stabilization_rate.c.

STABILIZATION_RATE_DEADBAND_Q

#define STABILIZATION_RATE_DEADBAND_Q   0

Definition at line 78 of file stabilization_rate.c.

STABILIZATION_RATE_DEADBAND_R

#define STABILIZATION_RATE_DEADBAND_R   200

Definition at line 81 of file stabilization_rate.c.

STABILIZATION_RATE_IGAIN_P

#define STABILIZATION_RATE_IGAIN_P   0

Definition at line 43 of file stabilization_rate.c.

STABILIZATION_RATE_IGAIN_Q

#define STABILIZATION_RATE_IGAIN_Q   0

Definition at line 47 of file stabilization_rate.c.

STABILIZATION_RATE_IGAIN_R

#define STABILIZATION_RATE_IGAIN_R   0

Definition at line 51 of file stabilization_rate.c.

YAW_RATE_DEADBAND_EXCEEDED

#define YAW_RATE_DEADBAND_EXCEEDED

(

)

Value:

  (radio_control.values[RADIO_YAW] >  STABILIZATION_RATE_DEADBAND_R || \
   radio_control.values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)

Definition at line 92 of file stabilization_rate.c.

Function Documentation

send_rate()

static void send_rate ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 99 of file stabilization_rate.c.

References dev, FloatRates::p, FloatRates::q, FloatRates::r, stabilization_cmd, stabilization_rate_fb_cmd, stabilization_rate_sp, and stabilization_rate_sum_err.

Referenced by stabilization_rate_init().

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stabilization_rate_enter()

void stabilization_rate_enter

(

void

)

Definition at line 182 of file stabilization_rate.c.

Referenced by guidance_h_mode_changed().

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stabilization_rate_init()

void stabilization_rate_init

(

void

)

Definition at line 115 of file stabilization_rate.c.

stabilization_rate_read_rc()

void stabilization_rate_read_rc

(

void

)

Definition at line 137 of file stabilization_rate.c.

Referenced by guidance_h_read_rc().

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stabilization_rate_read_rc_switched_sticks()

void stabilization_rate_read_rc_switched_sticks

(

void

)

Definition at line 160 of file stabilization_rate.c.

Referenced by guidance_h_read_rc().

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stabilization_rate_run()

void stabilization_rate_run

(

bool

in_flight

)

Definition at line 187 of file stabilization_rate.c.

Referenced by guidance_h_run().

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Variable Documentation

stabilization_rate_fb_cmd

struct FloatRates stabilization_rate_fb_cmd

Definition at line 72 of file stabilization_rate.c.

Referenced by send_rate(), and stabilization_rate_run().

stabilization_rate_gain

struct FloatRates stabilization_rate_gain

Definition at line 68 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

stabilization_rate_igain

struct FloatRates stabilization_rate_igain

Definition at line 69 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

stabilization_rate_sp

struct FloatRates stabilization_rate_sp

Definition at line 67 of file stabilization_rate.c.

Referenced by send_rate(), stabilization_rate_init(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and stabilization_rate_run().

stabilization_rate_sum_err

struct FloatRates stabilization_rate_sum_err

Definition at line 70 of file stabilization_rate.c.

Referenced by send_rate(), stabilization_rate_enter(), stabilization_rate_init(), and stabilization_rate_run().