stabilization_rate.h File Reference

Rate stabilization for rotorcrafts. More...

#include "math/pprz_algebra_int.h"

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Functions
void	stabilization_rate_init (void)
void	stabilization_rate_read_rc (void)
void	stabilization_rate_read_rc_switched_sticks (void)
void	stabilization_rate_run (bool_t in_flight)
void	stabilization_rate_enter (void)

Variables
struct Int32Rates	stabilization_rate_sp
struct Int32Rates	stabilization_rate_gain
struct Int32Rates	stabilization_rate_igain
struct Int32Rates	stabilization_rate_ddgain
struct Int32Rates	stabilization_rate_ref
struct Int32Rates	stabilization_rate_refdot
struct Int32Rates	stabilization_rate_sum_err
struct Int32Rates	stabilization_rate_fb_cmd
struct Int32Rates	stabilization_rate_ff_cmd

Detailed Description

Rate stabilization for rotorcrafts.

Control loops for angular velocity.

Definition in file stabilization_rate.h.

Function Documentation

void stabilization_rate_enter

(

void

)

Definition at line 181 of file stabilization_rate.c.

References INT_RATES_ZERO, and stabilization_rate_sum_err.

Referenced by guidance_h_mode_changed().

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void stabilization_rate_init

(

void

)

Definition at line 114 of file stabilization_rate.c.

References DefaultPeriodic, INT_RATES_ZERO, RATES_ASSIGN, register_periodic_telemetry(), 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.

Referenced by autopilot_init().

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void stabilization_rate_read_rc

(

void

)

Definition at line 136 of file stabilization_rate.c.

References MAX_PPRZ, Int32Rates::p, PITCH_RATE_DEADBAND_EXCEEDED, Int32Rates::q, Int32Rates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, RATE_BFP_OF_REAL, ROLL_RATE_DEADBAND_EXCEEDED, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

Referenced by guidance_h_read_rc().

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void stabilization_rate_read_rc_switched_sticks

(

void

)

Definition at line 159 of file stabilization_rate.c.

References MAX_PPRZ, Int32Rates::p, PITCH_RATE_DEADBAND_EXCEEDED, Int32Rates::q, Int32Rates::r, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_YAW, RATE_BFP_OF_REAL, ROLL_RATE_DEADBAND_EXCEEDED, stabilization_rate_sp, THROTTLE_STICK_DOWN, RadioControl::values, and YAW_RATE_DEADBAND_EXCEEDED.

Referenced by guidance_h_read_rc().

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void stabilization_rate_run

(

bool_t

in_flight

)

Definition at line 186 of file stabilization_rate.c.

References INT_RATES_ZERO, MAX_PPRZ, MAX_SUM_ERR, OFFSET_AND_ROUND2, Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_ADD, RATES_BOUND_CUBE, RATES_DIFF, stabilization_cmd, stabilization_rate_fb_cmd, stabilization_rate_gain, stabilization_rate_igain, stabilization_rate_sp, stabilization_rate_sum_err, and stateGetBodyRates_i().

Referenced by guidance_h_run().

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Variable Documentation

struct Int32Rates stabilization_rate_ddgain

struct Int32Rates stabilization_rate_fb_cmd

Definition at line 71 of file stabilization_rate.c.

Referenced by stabilization_rate_run().

struct Int32Rates stabilization_rate_ff_cmd

struct Int32Rates stabilization_rate_gain

Definition at line 67 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

struct Int32Rates stabilization_rate_igain

Definition at line 68 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), and stabilization_rate_run().

struct Int32Rates stabilization_rate_ref

struct Int32Rates stabilization_rate_refdot

struct Int32Rates stabilization_rate_sp

Definition at line 66 of file stabilization_rate.c.

Referenced by stabilization_rate_init(), stabilization_rate_read_rc(), stabilization_rate_read_rc_switched_sticks(), and stabilization_rate_run().

struct Int32Rates stabilization_rate_sum_err

Definition at line 69 of file stabilization_rate.c.

Referenced by stabilization_rate_enter(), stabilization_rate_init(), and stabilization_rate_run().