attitude_ref_saturate_naive.h File Reference

Naive attitude reference saturation. More...

#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	FloatRefSat
struct	Int32RefSat

Macros
#define	SATURATE_SPEED_TRIM_ACCEL(_rate, _accel, _max_rate)
	saturate angular speed and trim accel accordingly More...

Functions
static void	attitude_ref_float_saturate_naive (struct FloatRates *rate, struct FloatRates *accel, struct FloatRefSat *sat)
static void	attitude_ref_int_saturate_naive (struct Int32Rates *rate, struct Int32Rates *accel, struct Int32RefSat *sat)

Detailed Description

Naive attitude reference saturation.

Definition in file attitude_ref_saturate_naive.h.

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Data Structure Documentation

struct FloatRefSat

Definition at line 32 of file attitude_ref_saturate_naive.h.

Collaboration diagram for FloatRefSat:

Data Fields
struct FloatRates	max_accel
struct FloatRates	max_rate

struct Int32RefSat

Definition at line 37 of file attitude_ref_saturate_naive.h.

Collaboration diagram for Int32RefSat:

Data Fields
struct Int32Rates	max_accel
struct Int32Rates	max_rate

Macro Definition Documentation

#define SATURATE_SPEED_TRIM_ACCEL	(		_rate,
			_accel,
			_max_rate
	)

Value:

{   \
    if ((_rate) >= (_max_rate)) {                               \
      (_rate) = (_max_rate);                                    \
      if ((_accel) > 0) {                                       \
        (_accel) = 0;                                           \
      }                                                         \
    }                                                           \
    else if ((_rate) <= -(_max_rate)) {                         \
      (_rate) = -(_max_rate);                                   \
      if ((_accel) < 0) {                                       \
        (_accel) = 0;                                           \
      }                                                         \
    }                                                           \
  }

saturate angular speed and trim accel accordingly

Definition at line 43 of file attitude_ref_saturate_naive.h.

Referenced by attitude_ref_float_saturate_naive(), and attitude_ref_int_saturate_naive().

Function Documentation

static void attitude_ref_float_saturate_naive ( struct FloatRates *  rate, struct FloatRates *  accel, struct FloatRefSat *  sat  )

inlinestatic

Definition at line 58 of file attitude_ref_saturate_naive.h.

References FloatRefSat::max_accel, FloatRefSat::max_rate, FloatRates::p, FloatRates::q, FloatRates::r, RATES_BOUND_BOX_ABS, and SATURATE_SPEED_TRIM_ACCEL.

Referenced by attitude_ref_euler_float_update(), and attitude_ref_quat_float_update().

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static void attitude_ref_int_saturate_naive ( struct Int32Rates *  rate, struct Int32Rates *  accel, struct Int32RefSat *  sat  )

inlinestatic

Definition at line 71 of file attitude_ref_saturate_naive.h.

References Int32RefSat::max_accel, Int32RefSat::max_rate, Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_BOUND_BOX_ABS, and SATURATE_SPEED_TRIM_ACCEL.

Referenced by attitude_ref_quat_int_update().

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