stabilization_attitude_quat_indi.h File Reference

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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"

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Data Structures
struct	ReferenceSystem
struct	IndiVariables

Functions
void	stabilization_indi_second_order_filter (struct FloatRates *input, struct FloatRates *filter_ddx, struct FloatRates *filter_dx, struct FloatRates *filter_x, float omega, float zeta, float omega_r)
void	lms_estimation (void)

Variables
struct FloatRates	g1
float	g2
struct ReferenceSystem	reference_acceleration
struct FloatRates	g_est
bool_t	use_adaptive_indi
struct Int32Eulers	stab_att_sp_euler
	with INT32_ANGLE_FRAC More...
struct Int32Quat	stab_att_sp_quat
	with INT32_QUAT_FRAC More...

Detailed Description

This is the header file of the corresponding c file.

Definition in file stabilization_attitude_quat_indi.h.

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Data Structure Documentation

struct ReferenceSystem

Definition at line 38 of file stabilization_attitude_quat_indi.h.

Data Fields
float	err_p
float	err_q
float	err_r
float	rate_p
float	rate_q
float	rate_r

struct IndiVariables

Definition at line 47 of file stabilization_attitude_quat_indi.h.

Collaboration diagram for IndiVariables:

Data Fields
struct FloatRates	angular_accel_ref
struct FloatRates	du
struct FloatRates	filtered_rate
struct FloatRates	filtered_rate_2deriv
struct FloatRates	filtered_rate_deriv
struct FloatRates	u
struct FloatRates	u_act_dyn
struct FloatRates	u_in
struct FloatRates	udot
struct FloatRates	udotdot

Function Documentation

void lms_estimation

(

void

)

Definition at line 324 of file stabilization_attitude_quat_indi.c.

References g2, g2_est, INDI_EST_SCALE, mu, FloatRates::p, PERIODIC_FREQUENCY, FloatRates::q, FloatRates::r, stabilization_indi_second_order_filter(), stateGetBodyRates_f(), IndiVariables::u_act_dyn, and use_adaptive_indi.

Referenced by attitude_run_indi().

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void stabilization_indi_second_order_filter	(	struct FloatRates *	input,
		struct FloatRates *	filter_ddx,
		struct FloatRates *	filter_dx,
		struct FloatRates *	filter_x,
		float	omega,
		float	zeta,
		float	omega_r
	)

Definition at line 309 of file stabilization_attitude_quat_indi.c.

References float_rates_integrate_fi(), omega_r, FloatRates::p, PERIODIC_FREQUENCY, FloatRates::q, and FloatRates::r.

Referenced by attitude_run_indi(), lms_estimation(), and stabilization_attitude_run().

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Variable Documentation

struct FloatRates g1

Definition at line 46 of file stabilization_attitude_quat_indi.c.

Referenced by gain_scheduling_periodic().

float g2

Definition at line 47 of file stabilization_attitude_quat_indi.c.

Referenced by attitude_run_indi(), gain_scheduling_periodic(), and lms_estimation().

struct FloatRates g_est

Definition at line 80 of file stabilization_attitude_quat_indi.c.

struct ReferenceSystem reference_acceleration

Definition at line 48 of file stabilization_attitude_quat_indi.c.

struct Int32Eulers stab_att_sp_euler

with INT32_ANGLE_FRAC

Definition at line 45 of file stabilization_attitude_euler_float.c.

struct Int32Quat stab_att_sp_quat

with INT32_QUAT_FRAC

Definition at line 41 of file stabilization_attitude_quat_float.c.

bool_t use_adaptive_indi

Definition at line 88 of file stabilization_attitude_quat_indi.c.

Referenced by lms_estimation().