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[telemetry] send STAB_ATTITUDE and STAB_ATTITUDE_REF in quat_float

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and fix body_rate and att_euler sending for euler_float
This commit is contained in:
Felix Ruess
2013-10-23 13:08:26 +02:00
parent c384bc158f
commit dd718fb597
2 changed files with 53 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
+2 -2
View File
@@ -39,8 +39,8 @@ float stabilization_att_ff_cmd[COMMANDS_NB];
#include "subsystems/datalink/telemetry.h" #include "subsystems/datalink/telemetry.h"
static void send_att(void) { static void send_att(void) {
struct FloatRates* body_rate = stateGetBodyRates_i(); struct FloatRates* body_rate = stateGetBodyRates_f();
struct FloatEulers* att = stateGetNedToBodyEulers_i(); struct FloatEulers* att = stateGetNedToBodyEulers_f();
float foo = 0.0; float foo = 0.0;
DOWNLINK_SEND_STAB_ATTITUDE_FLOAT(DefaultChannel, DefaultDevice, DOWNLINK_SEND_STAB_ATTITUDE_FLOAT(DefaultChannel, DefaultDevice,
&(body_rate->p), &(body_rate->q), &(body_rate->r), &(body_rate->p), &(body_rate->q), &(body_rate->r),
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
+51 -1
View File
@@ -39,6 +39,7 @@ struct FloatQuat stabilization_att_sum_err_quat;
struct FloatEulers stabilization_att_sum_err; struct FloatEulers stabilization_att_sum_err;
struct FloatRates last_body_rate; struct FloatRates last_body_rate;
struct FloatRates body_rate_d;
float stabilization_att_fb_cmd[COMMANDS_NB]; float stabilization_att_fb_cmd[COMMANDS_NB];
float stabilization_att_ff_cmd[COMMANDS_NB]; float stabilization_att_ff_cmd[COMMANDS_NB];
@@ -90,6 +91,50 @@ static const float psi_ddgain_surface[] = STABILIZATION_ATTITUDE_PSI_DDGAIN_SURF
#define IERROR_SCALE 1024 #define IERROR_SCALE 1024
#if DOWNLINK
#include "subsystems/datalink/telemetry.h"
static void send_att(void) {
struct FloatRates* body_rate = stateGetBodyRates_f();
struct FloatEulers* att = stateGetNedToBodyEulers_f();
DOWNLINK_SEND_STAB_ATTITUDE_FLOAT(DefaultChannel, DefaultDevice,
&(body_rate->p), &(body_rate->q), &(body_rate->r),
&(att->phi), &(att->theta), &(att->psi),
&stab_att_sp_euler.phi,
&stab_att_sp_euler.theta,
&stab_att_sp_euler.psi,
&stabilization_att_sum_err.phi,
&stabilization_att_sum_err.theta,
&stabilization_att_sum_err.psi,
&stabilization_att_fb_cmd[COMMAND_ROLL],
&stabilization_att_fb_cmd[COMMAND_PITCH],
&stabilization_att_fb_cmd[COMMAND_YAW],
&stabilization_att_ff_cmd[COMMAND_ROLL],
&stabilization_att_ff_cmd[COMMAND_PITCH],
&stabilization_att_ff_cmd[COMMAND_YAW],
&stabilization_cmd[COMMAND_ROLL],
&stabilization_cmd[COMMAND_PITCH],
&stabilization_cmd[COMMAND_YAW],
&body_rate_d.p, &body_rate_d.q, &body_rate_d.r);
}
static void send_att_ref(void) {
DOWNLINK_SEND_STAB_ATTITUDE_REF_FLOAT(DefaultChannel, DefaultDevice,
&stab_att_sp_euler.phi,
&stab_att_sp_euler.theta,
&stab_att_sp_euler.psi,
&stab_att_ref_euler.phi,
&stab_att_ref_euler.theta,
&stab_att_ref_euler.psi,
&stab_att_ref_rate.p,
&stab_att_ref_rate.q,
&stab_att_ref_rate.r,
&stab_att_ref_accel.p,
&stab_att_ref_accel.q,
&stab_att_ref_accel.r);
}
#endif
void stabilization_attitude_init(void) { void stabilization_attitude_init(void) {
stabilization_attitude_ref_init(); stabilization_attitude_ref_init();
@@ -111,6 +156,12 @@ void stabilization_attitude_init(void) {
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat ); FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err ); FLOAT_EULERS_ZERO( stabilization_att_sum_err );
FLOAT_RATES_ZERO( last_body_rate ); FLOAT_RATES_ZERO( last_body_rate );
FLOAT_RATES_ZERO( body_rate_d );
#if DOWNLINK
register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
#endif
} }
void stabilization_attitude_gain_schedule(uint8_t idx) void stabilization_attitude_gain_schedule(uint8_t idx)
@@ -249,7 +300,6 @@ void stabilization_attitude_run(bool_t enable_integrator) {
struct FloatRates* body_rate = stateGetBodyRates_f(); struct FloatRates* body_rate = stateGetBodyRates_f();
RATES_DIFF(rate_err, stab_att_ref_rate, *body_rate); RATES_DIFF(rate_err, stab_att_ref_rate, *body_rate);
/* rate_d error */ /* rate_d error */
struct FloatRates body_rate_d;
RATES_DIFF(body_rate_d, *body_rate, last_body_rate); RATES_DIFF(body_rate_d, *body_rate, last_body_rate);
RATES_COPY(last_body_rate, *body_rate); RATES_COPY(last_body_rate, *body_rate);