IndiController_int Struct Reference

#include <stabilization_attitude_heli_indi.h>

Data Fields
int32_t	reference [INDI_DOF]
	Range -MAX_PPRZ:MAX_PPRZ. More...
int32_t	error [INDI_DOF]
	virtual control minus measurement More...
int32_t	invG [INDI_DOF][INDI_DOF]
	Inverse control effectiveness matrix. More...
int32_t	du [INDI_DOF]
	Actuator commanded increment. More...
int32_t	u_setpoint [INDI_DOF]
	Actuator setpoint without compensator. More...
int32_t	actuator_out [INDI_DOF]
	Actuator position. More...
int32_t	command_out [2][INDI_DOF]
	Command and command from previous measurement. More...
int32_t	filtered_actuator [INDI_NR_FILTERS][INDI_DOF]
	Filtered actuator position. More...
int32_t	measurement [INDI_DOF]
	Raw measurement. More...
int32_t	filtered_measurement [INDI_NR_FILTERS][INDI_DOF]
	Filtered measurement. More...
int32_t	pitch_comp_angle
	Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC. More...
int32_t	roll_comp_angle
	Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC. More...
bool	enable_notch
	Use notch filters. More...
int16_t	motor_rpm
	RPM of the main motor. More...
float	sp_offset_roll
	Neutral roll angle [deg]. More...
float	sp_offset_pitch
	Neutral pitch angle [deg]. More...
void(*	apply_compensator_filters )(int32_t _out[], int32_t _in[])
void(*	apply_actuator_models )(int32_t _out[], int32_t _in[])
void(*	apply_actuator_filters [INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])
void(*	apply_measurement_filters [INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])

Detailed Description

Definition at line 47 of file stabilization_attitude_heli_indi.h.

Field Documentation

actuator_out

int32_t IndiController_int::actuator_out[INDI_DOF]

Actuator position.

Definition at line 53 of file stabilization_attitude_heli_indi.h.

apply_actuator_filters

void(* IndiController_int::apply_actuator_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])

Definition at line 66 of file stabilization_attitude_heli_indi.h.

apply_actuator_models

void(* IndiController_int::apply_actuator_models) (int32_t _out[], int32_t _in[])

Definition at line 65 of file stabilization_attitude_heli_indi.h.

apply_compensator_filters

void(* IndiController_int::apply_compensator_filters) (int32_t _out[], int32_t _in[])

Definition at line 64 of file stabilization_attitude_heli_indi.h.

apply_measurement_filters

void(* IndiController_int::apply_measurement_filters[INDI_NR_FILTERS])(int32_t _out[], int32_t _in[])

Definition at line 67 of file stabilization_attitude_heli_indi.h.

command_out

int32_t IndiController_int::command_out[2][INDI_DOF]

Command and command from previous measurement.

Definition at line 54 of file stabilization_attitude_heli_indi.h.

du

int32_t IndiController_int::du[INDI_DOF]

Actuator commanded increment.

Definition at line 51 of file stabilization_attitude_heli_indi.h.

enable_notch

bool IndiController_int::enable_notch

Use notch filters.

Definition at line 60 of file stabilization_attitude_heli_indi.h.

Referenced by indi_apply_notch_filters(), and stabilization_attitude_run().

error

int32_t IndiController_int::error[INDI_DOF]

virtual control minus measurement

Definition at line 49 of file stabilization_attitude_heli_indi.h.

filtered_actuator

int32_t IndiController_int::filtered_actuator[INDI_NR_FILTERS][INDI_DOF]

Filtered actuator position.

Definition at line 55 of file stabilization_attitude_heli_indi.h.

filtered_measurement

int32_t IndiController_int::filtered_measurement[INDI_NR_FILTERS][INDI_DOF]

Filtered measurement.

Definition at line 57 of file stabilization_attitude_heli_indi.h.

invG

int32_t IndiController_int::invG[INDI_DOF][INDI_DOF]

Inverse control effectiveness matrix.

Definition at line 50 of file stabilization_attitude_heli_indi.h.

measurement

int32_t IndiController_int::measurement[INDI_DOF]

Raw measurement.

Definition at line 56 of file stabilization_attitude_heli_indi.h.

motor_rpm

int16_t IndiController_int::motor_rpm

RPM of the main motor.

Definition at line 61 of file stabilization_attitude_heli_indi.h.

Referenced by indi_apply_notch_filters(), and stabilization_attitude_run().

pitch_comp_angle

int32_t IndiController_int::pitch_comp_angle

Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.

Definition at line 58 of file stabilization_attitude_heli_indi.h.

reference

int32_t IndiController_int::reference[INDI_DOF]

Range -MAX_PPRZ:MAX_PPRZ.

Definition at line 48 of file stabilization_attitude_heli_indi.h.

roll_comp_angle

int32_t IndiController_int::roll_comp_angle

Angle to rotate pitch/roll commands with INT32_ANGLE_FRAC.

Definition at line 59 of file stabilization_attitude_heli_indi.h.

sp_offset_pitch

float IndiController_int::sp_offset_pitch

Neutral pitch angle [deg].

Definition at line 63 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_set_steadystate_pitch(), and stabilization_attitude_heli_indi_set_steadystate_pitchroll().

sp_offset_roll

float IndiController_int::sp_offset_roll

Neutral roll angle [deg].

Definition at line 62 of file stabilization_attitude_heli_indi.h.

Referenced by stabilization_attitude_heli_indi_set_steadystate_pitchroll(), and stabilization_attitude_heli_indi_set_steadystate_roll().

u_setpoint

int32_t IndiController_int::u_setpoint[INDI_DOF]

Actuator setpoint without compensator.

Definition at line 52 of file stabilization_attitude_heli_indi.h.

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The documentation for this struct was generated from the following file:

• sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.h