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https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[rotorcraft] stabilization attitude ref include cleanup
This commit is contained in:
Felix Ruess
@@ -31,13 +31,6 @@
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
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#ifndef STABILIZATION_ATTITUDE_GAIN_NB
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#define STABILIZATION_ATTITUDE_GAIN_NB 1
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#endif
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#ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
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#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
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#endif
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extern struct FloatAttitudeGains stabilization_gains[];
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+2
-1
@@ -1,4 +1,5 @@
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
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#include "generated/airframe.h"
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struct FloatEulers stab_att_sp_euler;
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-3
@@ -22,10 +22,7 @@
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#ifndef STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
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#define STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
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#include "math/pprz_algebra_float.h"
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#include "stabilization_attitude_ref_float.h"
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#include "stabilization_attitude_ref.h"
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void stabilization_attitude_ref_enter(void);
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+2
-1
@@ -24,7 +24,8 @@
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*
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*/
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
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#include "generated/airframe.h"
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struct Int32Eulers stab_att_sp_euler;
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@@ -28,7 +28,5 @@
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#define STABILIZATION_ATTITUDE_REF_EULER_INT_H
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#include "stabilization_attitude_ref_int.h"
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#include "stabilization_attitude_ref.h"
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#endif /* STABILIZATION_ATTITUDE_REF_EULER_INT_H */
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@@ -27,9 +27,7 @@
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#ifndef STABILIZATION_ATTITUDE_REF_FLOAT_H
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#define STABILIZATION_ATTITUDE_REF_FLOAT_H
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#include "generated/airframe.h"
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#include "state.h"
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#include "math/pprz_algebra_float.h"
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extern struct FloatEulers stab_att_sp_euler;
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extern struct FloatQuat stab_att_sp_quat;
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@@ -29,8 +29,6 @@
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#include "math/pprz_algebra_int.h"
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#include "state.h"
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extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC
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extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC
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extern struct Int32Rates stab_att_ref_rate; ///< with #REF_RATE_FRAC
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+2
-3
@@ -28,10 +28,9 @@
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*/
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#include "generated/airframe.h"
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#include "firmwares/rotorcraft/stabilization.h"
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#include "state.h"
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#include "stabilization_attitude_ref_float.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
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#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
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#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
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+7
-6
@@ -30,14 +30,15 @@
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#ifndef STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
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#define STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
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#include "subsystems/radio_control.h"
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#include "math/pprz_algebra_float.h"
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#include "stabilization_attitude_ref_float.h"
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#include "stabilization_attitude_ref.h"
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#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
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#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)
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#ifndef STABILIZATION_ATTITUDE_GAIN_NB
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#define STABILIZATION_ATTITUDE_GAIN_NB 1
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#endif
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#ifndef STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
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#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT 0
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#endif
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void stabilization_attitude_ref_enter(void);
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void stabilization_attitude_ref_schedule(uint8_t idx);
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+2
-3
@@ -28,9 +28,8 @@
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*/
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#include "generated/airframe.h"
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#include "firmwares/rotorcraft/stabilization.h"
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#include "stabilization_attitude_ref_int.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
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#include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h"
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#define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT, REF_ACCEL_FRAC)
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#define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT, REF_ACCEL_FRAC)
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@@ -31,7 +31,6 @@
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#define STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H
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#include "stabilization_attitude_ref_int.h"
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#include "stabilization_attitude_ref.h"
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void stabilization_attitude_ref_enter(void);
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+5
-5
@@ -19,12 +19,12 @@
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* Boston, MA 02111-1307, USA.
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*/
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/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
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* Common rotorcraft attitude reference generation include.
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/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref_saturate.h
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* Common rotorcraft attitude reference saturation include.
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*/
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#ifndef STABILIZATION_ATTITUDE_REF_H
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#define STABILIZATION_ATTITUDE_REF_H
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#ifndef STABILIZATION_ATTITUDE_REF_SATURATE_H
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#define STABILIZATION_ATTITUDE_REF_SATURATE_H
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#define SATURATE_SPEED_TRIM_ACCEL() { \
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if (stab_att_ref_rate.p >= REF_RATE_MAX_P) { \
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@@ -60,4 +60,4 @@
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}
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#endif /* STABILIZATION_ATTITUDE_REF_H */
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#endif /* STABILIZATION_ATTITUDE_REF_SATURATE_H */
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