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[rotorcraft] attempt at some cleaner stabilization includes

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Felix Ruess
2013-10-28 22:23:31 +01:00
parent 13c9f3b7ca
commit 931cefe43e
4 changed files with 4 additions and 6 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h
-3
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@@ -45,9 +45,6 @@ extern struct Int32Eulers stabilization_att_sum_err;
extern int32_t stabilization_att_fb_cmd[COMMANDS_NB]; extern int32_t stabilization_att_fb_cmd[COMMANDS_NB];
extern int32_t stabilization_att_ff_cmd[COMMANDS_NB]; extern int32_t stabilization_att_ff_cmd[COMMANDS_NB];
// common so it can be used for downlink/debug
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
#define stabilization_attitude_common_int_SetKiPhi(_val) { \ #define stabilization_attitude_common_int_SetKiPhi(_val) { \
stabilization_gains.i.x = _val; \ stabilization_gains.i.x = _val; \
stabilization_att_sum_err.phi = 0; \ stabilization_att_sum_err.phi = 0; \
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h
-2
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@@ -27,6 +27,4 @@
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC
#endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */ #endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
+1 -1
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@@ -29,8 +29,8 @@
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC
extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC
extern struct Int32Rates stab_att_ref_rate; ///< with #REF_RATE_FRAC extern struct Int32Rates stab_att_ref_rate; ///< with #REF_RATE_FRAC
extern struct Int32Rates stab_att_ref_accel; ///< with #REF_ACCEL_FRAC extern struct Int32Rates stab_att_ref_accel; ///< with #REF_ACCEL_FRAC
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+3
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@@ -32,6 +32,9 @@
#include "stabilization_attitude_ref_int.h" #include "stabilization_attitude_ref_int.h"
extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC
extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC
void stabilization_attitude_ref_enter(void); void stabilization_attitude_ref_enter(void);
#endif /* STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H */ #endif /* STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H */