stabilization_attitude_passthrough.c File Reference

passthrough attitude stabilization More...

#include "state.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "paparazzi.h"
#include "generated/airframe.h"

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Macros
#define	TRAJ_MAX_BANK   (int32_t)ANGLE_BFP_OF_REAL(GUIDANCE_H_MAX_BANK)

Functions
void	stabilization_attitude_init (void)
void	stabilization_attitude_read_rc (bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn)
void	stabilization_attitude_enter (void)
void	stabilization_attitude_run (bool_t in_flight)
void	stabilization_attitude_set_failsafe_setpoint (void)
void	stabilization_attitude_set_rpy_setpoint_i (struct Int32Eulers *rpy)
void	stabilization_attitude_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)

Variables
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...

Detailed Description

passthrough attitude stabilization

This is useful for instance when having an AC that has needs no stabilization because it is already been done by other stabilization software onboard or just does not need it at all.

Definition in file stabilization_attitude_passthrough.c.

Macro Definition Documentation

#define TRAJ_MAX_BANK   (int32_t)ANGLE_BFP_OF_REAL(GUIDANCE_H_MAX_BANK)

Definition at line 39 of file stabilization_attitude_passthrough.c.

Referenced by stabilization_attitude_run().

Function Documentation

void stabilization_attitude_enter

(

void

)

Definition at line 55 of file stabilization_attitude_passthrough.c.

void stabilization_attitude_init

(

void

)

Definition at line 44 of file stabilization_attitude_passthrough.c.

References INT_EULERS_ZERO, and stab_att_sp_euler.

void stabilization_attitude_read_rc	(	bool_t	in_flight,
		bool_t	in_carefree,
		bool_t	coordinated_turn
	)

Definition at line 49 of file stabilization_attitude_passthrough.c.

References stab_att_sp_euler, and stabilization_attitude_read_rc_setpoint_eulers().

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void stabilization_attitude_run

(

bool_t

in_flight

)

Definition at line 60 of file stabilization_attitude_passthrough.c.

References INT32_ANGLE_NORMALIZE, MAX_PPRZ, Int32Eulers::phi, Int32Eulers::psi, stab_att_sp_euler, stabilization_cmd, stateGetNedToBodyEulers_i(), Int32Eulers::theta, and TRAJ_MAX_BANK.

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void stabilization_attitude_set_earth_cmd_i	(	struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 91 of file stabilization_attitude_passthrough.c.

References heading, INT32_TRIG_FRAC, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_i(), Int32Eulers::theta, Int32Vect2::x, and Int32Vect2::y.

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void stabilization_attitude_set_failsafe_setpoint

(

void

)

Definition at line 79 of file stabilization_attitude_passthrough.c.

References Int32Eulers::phi, Int32Eulers::psi, stab_att_sp_euler, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

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void stabilization_attitude_set_rpy_setpoint_i

(

struct Int32Eulers *

rpy

)

Definition at line 86 of file stabilization_attitude_passthrough.c.

References stab_att_sp_euler.

Variable Documentation

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 41 of file stabilization_attitude_passthrough.c.

Referenced by stabilization_attitude_init(), stabilization_attitude_read_rc(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), and stabilization_attitude_set_rpy_setpoint_i().