Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_rate.h File Reference

Rate stabilization for rotorcrafts. More...

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Functions

void stabilization_rate_init (void)
 Initialize rate controller. More...
 
void stabilization_rate_read_rc (void)
 Read RC comands with roll and yaw sticks. More...
 
void stabilization_rate_read_rc_switched_sticks (void)
 Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired. More...
 
void stabilization_rate_run (bool in_flight)
 Run indi rate interface from the "stabilization_rate_run" function. More...
 
void stabilization_rate_enter (void)
 Reset rate controller. More...
 

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.h.

Function Documentation

void stabilization_rate_enter ( void  )

Reset rate controller.

Definition at line 182 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, stabilization_indi_enter(), and stabilization_rate_sum_err.

Referenced by guidance_h_mode_changed().

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void stabilization_rate_read_rc ( void  )
void stabilization_rate_read_rc_switched_sticks ( void  )

Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired.

Definition at line 160 of file stabilization_rate.c.

References MAX_PPRZ, FloatRates::p, PITCH_RATE_DEADBAND_EXCEEDED, FloatRates::q, FloatRates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, ROLL_RATE_DEADBAND_EXCEEDED, STABILIZATION_INDI_MAX_RATE, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

Referenced by guidance_h_read_rc().

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void stabilization_rate_run ( bool  in_flight)

Run indi rate interface from the "stabilization_rate_run" function.

Definition at line 187 of file stabilization_rate.c.

References FLOAT_RATES_ZERO, MAX_PPRZ, MAX_SUM_ERR, FloatRates::p, FloatRates::q, FloatRates::r, RATES_ADD, RATES_BOUND_CUBE, RATES_DIFF, RATES_SDIV, stabilization_cmd, stabilization_indi_rate_run(), stabilization_rate_fb_cmd, stabilization_rate_gain, stabilization_rate_igain, stabilization_rate_sp, stabilization_rate_sum_err, and stateGetBodyRates_f().

Referenced by guidance_h_run().

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Variable Documentation

struct FloatRates stabilization_rate_fb_cmd

Definition at line 72 of file stabilization_rate.c.

Referenced by send_rate(), and stabilization_rate_run().

struct FloatRates stabilization_rate_gain

Definition at line 68 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

struct FloatRates stabilization_rate_igain

Definition at line 69 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

struct FloatRates stabilization_rate_sum_err