stabilization_rate.h File Reference

#include "math/pprz_algebra_float.h"

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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

stabilization_rate_enter()

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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stabilization_rate_init()

void stabilization_rate_init

(

void

)

Initialize rate controller.

Definition at line 115 of file stabilization_rate.c.

References DefaultPeriodic, FLOAT_RATES_ZERO, RATES_ASSIGN, register_periodic_telemetry(), send_rate(), stabilization_indi_init(), stabilization_rate_gain, stabilization_rate_igain, STABILIZATION_RATE_IGAIN_P, STABILIZATION_RATE_IGAIN_Q, STABILIZATION_RATE_IGAIN_R, stabilization_rate_sp, and stabilization_rate_sum_err.

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stabilization_rate_read_rc()

void stabilization_rate_read_rc

(

void

)

Read RC comands with roll and yaw sticks.

Definition at line 137 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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stabilization_rate_read_rc_switched_sticks()

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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stabilization_rate_run()

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

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().