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[rotorcraft] attitude_ref: more refactoring

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- shared ref saturation defaults in header file
- runtime adjustable saturation for ref_quat_int
- update python wrappers accordingly
This commit is contained in:
Felix Ruess
2015-10-12 15:35:28 +02:00
parent 572d71cc0d
commit de2d42bf82
11 changed files with 187 additions and 155 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/attitude_ref_saturate_naive.h
+35 -17
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@@ -27,28 +27,33 @@
#define ATTITUDE_REF_SATURATE_NAIVE_H
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
struct FloatRefSat {
struct FloatRates max_rate;
struct FloatRates max_accel;
};
struct Int32RefSat {
struct Int32Rates max_rate;
struct Int32Rates max_accel;
};
/** saturate angular speed and trim accel accordingly */
static inline void saturate_speed_trim_accel(float *rate, float *accel, float max_rate)
{
if (*rate >= max_rate) {
*rate = max_rate;
if (*accel > 0.) {
*accel = 0.;
}
#define SATURATE_SPEED_TRIM_ACCEL(_rate, _accel, _max_rate) { \
if ((_rate) >= (_max_rate)) { \
(_rate) = (_max_rate); \
if ((_accel) > 0) { \
(_accel) = 0; \
} \
} \
else if ((_rate) <= -(_max_rate)) { \
(_rate) = -(_max_rate); \
if ((_accel) < 0) { \
(_accel) = 0; \
} \
} \
}
else if (*rate <= -max_rate) {
*rate = -max_rate;
if (*accel < 0.) {
*accel = 0.;
}
}
}
static inline void attitude_ref_float_saturate_naive(struct FloatRates *rate,
struct FloatRates *accel,
@@ -58,9 +63,22 @@ static inline void attitude_ref_float_saturate_naive(struct FloatRates *rate,
RATES_BOUND_BOX_ABS(*accel, sat->max_accel);
/* saturate angular speed and trim accel accordingly */
saturate_speed_trim_accel(&rate->p, &accel->p, sat->max_rate.p);
saturate_speed_trim_accel(&rate->q, &accel->q, sat->max_rate.q);
saturate_speed_trim_accel(&rate->r, &accel->r, sat->max_rate.r);
SATURATE_SPEED_TRIM_ACCEL(rate->p, accel->p, sat->max_rate.p);
SATURATE_SPEED_TRIM_ACCEL(rate->q, accel->q, sat->max_rate.q);
SATURATE_SPEED_TRIM_ACCEL(rate->r, accel->r, sat->max_rate.r);
}
static inline void attitude_ref_int_saturate_naive(struct Int32Rates *rate,
struct Int32Rates *accel,
struct Int32RefSat *sat)
{
/* saturate angular acceleration */
RATES_BOUND_BOX_ABS(*accel, sat->max_accel);
/* saturate angular speed and trim accel accordingly */
SATURATE_SPEED_TRIM_ACCEL(rate->p, accel->p, sat->max_rate.p);
SATURATE_SPEED_TRIM_ACCEL(rate->q, accel->q, sat->max_rate.q);
SATURATE_SPEED_TRIM_ACCEL(rate->r, accel->r, sat->max_rate.r);
}
#endif /* ATTITUDE_REF_SATURATE_NAIVE_H */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h
+49
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@@ -0,0 +1,49 @@
/*
* Copyright (C) 2008-2015 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file firmwares/rotorcraft/stabilization/attitude_ref_defaults.h
* Default values for attitude reference saturation.
*/
#ifndef ATTITUDE_REF_DEFAULTS_H
#define ATTITUDE_REF_DEFAULTS_H
#ifndef STABILIZATION_ATTITUDE_REF_MAX_P
#define STABILIZATION_ATTITUDE_REF_MAX_P RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_Q
#define STABILIZATION_ATTITUDE_REF_MAX_Q RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_R
#define STABILIZATION_ATTITUDE_REF_MAX_R RadOfDeg(180.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_PDOT
#define STABILIZATION_ATTITUDE_REF_MAX_PDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_QDOT
#define STABILIZATION_ATTITUDE_REF_MAX_QDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_RDOT
#define STABILIZATION_ATTITUDE_REF_MAX_RDOT RadOfDeg(1800.)
#endif
#endif /* ATTITUDE_REF_DEFAULTS_H */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
+1 -21
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@@ -28,27 +28,7 @@
#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h"
#ifndef STABILIZATION_ATTITUDE_REF_MAX_P
#define STABILIZATION_ATTITUDE_REF_MAX_P RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_Q
#define STABILIZATION_ATTITUDE_REF_MAX_Q RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_R
#define STABILIZATION_ATTITUDE_REF_MAX_R RadOfDeg(180.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_PDOT
#define STABILIZATION_ATTITUDE_REF_MAX_PDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_QDOT
#define STABILIZATION_ATTITUDE_REF_MAX_QDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_RDOT
#define STABILIZATION_ATTITUDE_REF_MAX_RDOT RadOfDeg(1800.)
#endif
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h"
static inline void reset_psi_ref(struct AttRefEulerFloat *ref, float psi);
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
+1 -20
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@@ -30,32 +30,13 @@
#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h"
/// default to fast but less precise quaternion integration
#ifndef STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP
#define STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP TRUE
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_P
#define STABILIZATION_ATTITUDE_REF_MAX_P RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_Q
#define STABILIZATION_ATTITUDE_REF_MAX_Q RadOfDeg(400.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_R
#define STABILIZATION_ATTITUDE_REF_MAX_R RadOfDeg(180.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_PDOT
#define STABILIZATION_ATTITUDE_REF_MAX_PDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_QDOT
#define STABILIZATION_ATTITUDE_REF_MAX_QDOT RadOfDeg(2000.)
#endif
#ifndef STABILIZATION_ATTITUDE_REF_MAX_RDOT
#define STABILIZATION_ATTITUDE_REF_MAX_RDOT RadOfDeg(1800.)
#endif
/* parameters used for initialization */
static const float omega_p[] = STABILIZATION_ATTITUDE_REF_OMEGA_P;
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
+52 -23
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@@ -29,16 +29,7 @@
#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
#define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
#define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
#define REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT, REF_ACCEL_FRAC)
#define REF_RATE_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P, REF_RATE_FRAC)
#define REF_RATE_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q, REF_RATE_FRAC)
#define REF_RATE_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R, REF_RATE_FRAC)
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h"
#define TWO_ZETA_OMEGA_RES 10
@@ -64,6 +55,13 @@ void attitude_ref_quat_int_init(struct AttRefQuatInt *ref)
INT_RATES_ZERO(ref->rate);
INT_RATES_ZERO(ref->accel);
attitude_ref_quat_int_set_max_p(ref, STABILIZATION_ATTITUDE_REF_MAX_P);
attitude_ref_quat_int_set_max_q(ref, STABILIZATION_ATTITUDE_REF_MAX_Q);
attitude_ref_quat_int_set_max_r(ref, STABILIZATION_ATTITUDE_REF_MAX_R);
attitude_ref_quat_int_set_max_pdot(ref, STABILIZATION_ATTITUDE_REF_MAX_PDOT);
attitude_ref_quat_int_set_max_qdot(ref, STABILIZATION_ATTITUDE_REF_MAX_QDOT);
attitude_ref_quat_int_set_max_rdot(ref, STABILIZATION_ATTITUDE_REF_MAX_RDOT);
struct FloatRates omega0 = {STABILIZATION_ATTITUDE_REF_OMEGA_P,
STABILIZATION_ATTITUDE_REF_OMEGA_Q,
STABILIZATION_ATTITUDE_REF_OMEGA_R};
@@ -153,22 +151,26 @@ void attitude_ref_quat_int_update(struct AttRefQuatInt *ref, struct Int32Quat *s
RATES_SUM(ref->accel, accel_rate, accel_angle);
/* saturate acceleration */
const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
const struct Int32Rates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R };
RATES_BOUND_BOX(ref->accel, MIN_ACCEL, MAX_ACCEL);
/* saturate angular speed and trim accel accordingly */
SATURATE_SPEED_TRIM_ACCEL(*ref);
/* saturate */
attitude_ref_int_saturate_naive(&ref->rate, &ref->accel, &ref->saturation);
/* compute euler representation for debugging and telemetry */
int32_eulers_of_quat(&ref->euler, &ref->quat);
}
static inline void reset_psi_ref(struct AttRefQuatInt *ref, int32_t psi)
{
ref->euler.psi = psi;
ref->rate.r = 0;
ref->accel.r = 0;
}
/*
* Recomputation of cached values.
*
*/
static void update_ref_model_p(struct AttRefQuatInt *ref)
{
ref->model.two_zeta_omega.p = BFP_OF_REAL((2 * ref->model.zeta.p * ref->model.omega.p), TWO_ZETA_OMEGA_RES);
@@ -195,6 +197,10 @@ static void update_ref_model(struct AttRefQuatInt *ref)
}
/*
* Setting handlers for changing the ref model parameters.
*
*/
void attitude_ref_quat_int_set_omega_p(struct AttRefQuatInt *ref, float omega_p)
{
ref->model.omega.p = omega_p;
@@ -245,10 +251,33 @@ void attitude_ref_quat_int_set_zeta(struct AttRefQuatInt *ref, struct FloatRates
attitude_ref_quat_int_set_zeta_r(ref, zeta->r);
}
static inline void reset_psi_ref(struct AttRefQuatInt *ref, int32_t psi)
void attitude_ref_quat_int_set_max_p(struct AttRefQuatInt *ref, float max_p)
{
ref->euler.psi = psi;
ref->rate.r = 0;
ref->accel.r = 0;
ref->saturation.max_rate.p = BFP_OF_REAL(max_p, REF_RATE_FRAC);
}
void attitude_ref_quat_int_set_max_q(struct AttRefQuatInt *ref, float max_q)
{
ref->saturation.max_rate.q = BFP_OF_REAL(max_q, REF_RATE_FRAC);
}
void attitude_ref_quat_int_set_max_r(struct AttRefQuatInt *ref, float max_r)
{
ref->saturation.max_rate.r = BFP_OF_REAL(max_r, REF_RATE_FRAC);
}
void attitude_ref_quat_int_set_max_pdot(struct AttRefQuatInt *ref, float max_pdot)
{
ref->saturation.max_accel.p = BFP_OF_REAL(max_pdot, REF_ACCEL_FRAC);
}
void attitude_ref_quat_int_set_max_qdot(struct AttRefQuatInt *ref, float max_qdot)
{
ref->saturation.max_accel.q = BFP_OF_REAL(max_qdot, REF_ACCEL_FRAC);
}
void attitude_ref_quat_int_set_max_rdot(struct AttRefQuatInt *ref, float max_rdot)
{
ref->saturation.max_accel.r = BFP_OF_REAL(max_rdot, REF_ACCEL_FRAC);
}
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+11 -2
View File
@@ -31,12 +31,13 @@
#define STABILIZATION_ATTITUDE_REF_QUAT_INT_H
#include "stabilization_attitude_ref_int.h"
#include "attitude_ref_saturate_naive.h"
/* ref model is in float and then used to precompute ref values in int */
#include "math/pprz_algebra_float.h"
/** Attitude reference model parameters (quat int) */
struct FloatRefModel {
struct IntRefModel {
struct FloatRates omega;
struct FloatRates zeta;
/* cached intermediate values in int */
@@ -50,7 +51,8 @@ struct AttRefQuatInt {
struct Int32Quat quat;
struct Int32Rates rate; ///< with #REF_RATE_FRAC
struct Int32Rates accel; ///< with #REF_ACCEL_FRAC
struct FloatRefModel model;
struct IntRefModel model;
struct Int32RefSat saturation;
};
extern void attitude_ref_quat_int_init(struct AttRefQuatInt *ref);
@@ -67,4 +69,11 @@ extern void attitude_ref_quat_int_set_zeta_p(struct AttRefQuatInt *ref, float ze
extern void attitude_ref_quat_int_set_zeta_q(struct AttRefQuatInt *ref, float zeta_q);
extern void attitude_ref_quat_int_set_zeta_r(struct AttRefQuatInt *ref, float zeta_r);
extern void attitude_ref_quat_int_set_max_p(struct AttRefQuatInt *ref, float max_p);
extern void attitude_ref_quat_int_set_max_q(struct AttRefQuatInt *ref, float max_q);
extern void attitude_ref_quat_int_set_max_r(struct AttRefQuatInt *ref, float max_r);
extern void attitude_ref_quat_int_set_max_pdot(struct AttRefQuatInt *ref, float max_pdot);
extern void attitude_ref_quat_int_set_max_qdot(struct AttRefQuatInt *ref, float max_qdot);
extern void attitude_ref_quat_int_set_max_rdot(struct AttRefQuatInt *ref, float max_rdot);
#endif /* STABILIZATION_ATTITUDE_REF_QUAT_INT_H */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
-63
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@@ -1,63 +0,0 @@
/*
* Copyright (C) 2008-2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
* Common rotorcraft attitude reference saturation include.
*/
#ifndef STABILIZATION_ATTITUDE_REF_SATURATE_H
#define STABILIZATION_ATTITUDE_REF_SATURATE_H
#define SATURATE_SPEED_TRIM_ACCEL(_ref) { \
if ((_ref).rate.p >= REF_RATE_MAX_P) { \
(_ref).rate.p = REF_RATE_MAX_P; \
if ((_ref).accel.p > 0) \
(_ref).accel.p = 0; \
} \
else if ((_ref).rate.p <= -REF_RATE_MAX_P) { \
(_ref).rate.p = -REF_RATE_MAX_P; \
if ((_ref).accel.p < 0) \
(_ref).accel.p = 0; \
} \
if ((_ref).rate.q >= REF_RATE_MAX_Q) { \
(_ref).rate.q = REF_RATE_MAX_Q; \
if ((_ref).accel.q > 0) \
(_ref).accel.q = 0; \
} \
else if ((_ref).rate.q <= -REF_RATE_MAX_Q) { \
(_ref).rate.q = -REF_RATE_MAX_Q; \
if ((_ref).accel.q < 0) \
(_ref).accel.q = 0; \
} \
if ((_ref).rate.r >= REF_RATE_MAX_R) { \
(_ref).rate.r = REF_RATE_MAX_R; \
if ((_ref).accel.r > 0) \
(_ref).accel.r = 0; \
} \
else if ((_ref).rate.r <= -REF_RATE_MAX_R) { \
(_ref).rate.r = -REF_RATE_MAX_R; \
if ((_ref).accel.r < 0) \
(_ref).accel.r = 0; \
} \
}
#endif /* STABILIZATION_ATTITUDE_REF_SATURATE_H */
sw/misc/attitude_reference/c_att_refs/generated/airframe.h
+2 -6
View File
@@ -20,16 +20,12 @@
#define STABILIZATION_ATTITUDE_REF_OMEGA_P 6.981317
#define STABILIZATION_ATTITUDE_REF_ZETA_P 0.85
#define STABILIZATION_ATTITUDE_REF_MAX_P 6.981317
#define STABILIZATION_ATTITUDE_REF_MAX_PDOT RadOfDeg(4000.)
#define STABILIZATION_ATTITUDE_REF_OMEGA_Q 6.981317
#define STABILIZATION_ATTITUDE_REF_ZETA_Q 0.85
#define STABILIZATION_ATTITUDE_REF_MAX_Q 6.981317
#define STABILIZATION_ATTITUDE_REF_MAX_QDOT RadOfDeg(4000.)
#define STABILIZATION_ATTITUDE_REF_OMEGA_R 4.363323125
#define STABILIZATION_ATTITUDE_REF_ZETA_R 0.85
#define STABILIZATION_ATTITUDE_REF_MAX_R 3.14159265
#define STABILIZATION_ATTITUDE_REF_MAX_RDOT RadOfDeg(1800.)
#endif
sw/misc/attitude_reference/c_att_refs/ref_quat_int.pxd
+14 -2
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@@ -4,16 +4,21 @@ from pprz_algebra_int_c cimport Int32Quat, Int32Eulers, Int32Rates
from pprz_algebra_float_c cimport FloatRates
cdef extern from "stabilization/stabilization_attitude_ref_quat_int.h":
struct FloatRefModel:
struct IntRefModel:
FloatRates omega
FloatRates zeta
struct Int32RefSat:
Int32Rates max_rate
Int32Rates max_accel
struct AttRefQuatInt:
Int32Eulers euler
Int32Quat quat
Int32Rates rate
Int32Rates accel
FloatRefModel model
IntRefModel model
Int32RefSat saturation
void attitude_ref_quat_int_init(AttRefQuatInt *ref)
void attitude_ref_quat_int_enter(AttRefQuatInt *ref, int32_t psi)
@@ -21,3 +26,10 @@ cdef extern from "stabilization/stabilization_attitude_ref_quat_int.h":
void attitude_ref_quat_int_set_omega(AttRefQuatInt *ref, FloatRates *omega)
void attitude_ref_quat_int_set_zeta(AttRefQuatInt *ref, FloatRates *zeta)
void attitude_ref_quat_int_set_max_p(AttRefQuatInt *ref, float max_p);
void attitude_ref_quat_int_set_max_q(AttRefQuatInt *ref, float max_q);
void attitude_ref_quat_int_set_max_r(AttRefQuatInt *ref, float max_r);
void attitude_ref_quat_int_set_max_pdot(AttRefQuatInt *ref, float max_pdot);
void attitude_ref_quat_int_set_max_qdot(AttRefQuatInt *ref, float max_qdot);
void attitude_ref_quat_int_set_max_rdot(AttRefQuatInt *ref, float max_rdot);
sw/misc/attitude_reference/c_att_refs/ref_quat_int.pyx
+22
View File
@@ -97,3 +97,25 @@ cdef class RefQuatInt:
self.set_omega(omega * np.ones(3))
else:
self.set_omega(omega)
property sat_vel:
def __get__(self):
max_rate = [self.ref.saturation.max_rate.p, self.ref.saturation.max_rate.q, self.ref.saturation.max_rate.r]
return np.array(max_rate, dtype='d') / (1 << REF_RATE_FRAC)
def __set__(self, vel):
if type(vel) == float:
vel = vel * np.ones(3)
ref_quat_int.attitude_ref_quat_int_set_max_p(&self.ref, vel[0])
ref_quat_int.attitude_ref_quat_int_set_max_q(&self.ref, vel[1])
ref_quat_int.attitude_ref_quat_int_set_max_r(&self.ref, vel[2])
property sat_accel:
def __get__(self):
max_accel = [self.ref.saturation.max_accel.p, self.ref.saturation.max_accel.q, self.ref.saturation.max_accel.r]
return np.array(max_accel, dtype='d') / (1 << REF_ACCEL_FRAC)
def __set__(self, accel):
if type(accel) == float:
accel = accel * np.ones(3)
ref_quat_int.attitude_ref_quat_int_set_max_pdot(&self.ref, accel[0])
ref_quat_int.attitude_ref_quat_int_set_max_qdot(&self.ref, accel[1])
ref_quat_int.attitude_ref_quat_int_set_max_rdot(&self.ref, accel[2])
sw/misc/attitude_reference/test_att_ref.py
-1
View File
@@ -87,7 +87,6 @@ sp[:, 0] = pu.rad_of_deg(45.) * scipy.signal.square(math.pi / 2 * time + math.pi
args = {'omega': 10., 'xi': 0.7, 'sat_vel': pu.rad_of_deg(150.), 'sat_accel': pu.rad_of_deg(1800),
'sat_jerk': pu.rad_of_deg(27000)}
rs = [ctl.att_ref_sat_naive(**args), ctl.att_ref_sat_nested(**args), ctl.att_ref_sat_nested2(**args)]
# beware that the saturation parameters of IntNative can only be set/defined at compile time!!
# rs.append(ctl.AttRefIntNative(**args))
rs.append(ctl.AttRefFloatNative(**args))