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[paparazzi-commits] [6089] Update stabilization float variants to use ST
|
From: |
Allen Ibara |
|
Subject: |
[paparazzi-commits] [6089] Update stabilization float variants to use STABILIZATION_FLOAT instead of STABILIZATION . |
|
Date: |
Wed, 06 Oct 2010 05:35:44 +0000 |
Revision: 6089
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6089
Author: aibara
Date: 2010-10-06 05:35:44 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
Update stabilization float variants to use STABILIZATION_FLOAT instead of
STABILIZATION. This lets both variants exist in one airframe (for running float
on lisa and int on stm32)
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
2010-10-06 05:35:44 UTC (rev 6089)
@@ -42,24 +42,24 @@
stabilization_attitude_ref_init();
VECT3_ASSIGN(stabilization_gains.p,
- STABILIZATION_ATTITUDE_PHI_PGAIN,
- STABILIZATION_ATTITUDE_THETA_PGAIN,
- STABILIZATION_ATTITUDE_PSI_PGAIN);
+ STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN);
VECT3_ASSIGN(stabilization_gains.d,
- STABILIZATION_ATTITUDE_PHI_DGAIN,
- STABILIZATION_ATTITUDE_THETA_DGAIN,
- STABILIZATION_ATTITUDE_PSI_DGAIN);
+ STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN);
VECT3_ASSIGN(stabilization_gains.i,
- STABILIZATION_ATTITUDE_PHI_IGAIN,
- STABILIZATION_ATTITUDE_THETA_IGAIN,
- STABILIZATION_ATTITUDE_PSI_IGAIN);
+ STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN);
VECT3_ASSIGN(stabilization_gains.dd,
- STABILIZATION_ATTITUDE_PHI_DDGAIN,
- STABILIZATION_ATTITUDE_THETA_DDGAIN,
- STABILIZATION_ATTITUDE_PSI_DDGAIN);
+ STABILIZATION_ATTITUDE_FLOAT_PHI_DDGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_THETA_DDGAIN,
+ STABILIZATION_ATTITUDE_FLOAT_PSI_DDGAIN);
FLOAT_EULERS_ZERO( stabilization_att_sum_err );
@@ -68,14 +68,14 @@
void stabilization_attitude_read_rc(bool_t in_flight) {
- STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
+ STABILIZATION_ATTITUDE_FLOAT_READ_RC(booz_stab_att_sp_euler, in_flight);
}
void stabilization_attitude_enter(void) {
- STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
+ STABILIZATION_ATTITUDE_FLOAT_RESET_PSI_REF( booz_stab_att_sp_euler );
FLOAT_EULERS_ZERO( stabilization_att_sum_err );
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
2010-10-06 05:35:44 UTC (rev 6089)
@@ -33,7 +33,7 @@
#include <firmwares/rotorcraft/ahrs.h>
#include "airframe.h"
-struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_GAIN_NB];
+struct FloatAttitudeGains
stabilization_gains[STABILIZATION_ATTITUDE_FLOAT_GAIN_NB];
struct FloatQuat stabilization_att_sum_err_quat;
struct FloatEulers stabilization_att_sum_err_eulers;
@@ -41,43 +41,43 @@
float stabilization_att_fb_cmd[COMMANDS_NB];
float stabilization_att_ff_cmd[COMMANDS_NB];
-static int gain_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
+static int gain_idx = STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT;
-static const float phi_pgain[] = STABILIZATION_ATTITUDE_PHI_PGAIN;
-static const float theta_pgain[] = STABILIZATION_ATTITUDE_THETA_PGAIN;
-static const float psi_pgain[] = STABILIZATION_ATTITUDE_PSI_PGAIN;
+static const float phi_pgain[] = STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN;
+static const float theta_pgain[] = STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN;
+static const float psi_pgain[] = STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN;
-static const float phi_dgain[] = STABILIZATION_ATTITUDE_PHI_DGAIN;
-static const float theta_dgain[] = STABILIZATION_ATTITUDE_THETA_DGAIN;
-static const float psi_dgain[] = STABILIZATION_ATTITUDE_PSI_DGAIN;
+static const float phi_dgain[] = STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN;
+static const float theta_dgain[] = STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN;
+static const float psi_dgain[] = STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN;
-static const float phi_igain[] = STABILIZATION_ATTITUDE_PHI_IGAIN;
-static const float theta_igain[] = STABILIZATION_ATTITUDE_THETA_IGAIN;
-static const float psi_igain[] = STABILIZATION_ATTITUDE_PSI_IGAIN;
+static const float phi_igain[] = STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN;
+static const float theta_igain[] = STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN;
+static const float psi_igain[] = STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN;
-static const float phi_ddgain[] = STABILIZATION_ATTITUDE_PHI_DDGAIN;
-static const float theta_ddgain[] = STABILIZATION_ATTITUDE_THETA_DDGAIN;
-static const float psi_ddgain[] = STABILIZATION_ATTITUDE_PSI_DDGAIN;
+static const float phi_ddgain[] = STABILIZATION_ATTITUDE_FLOAT_PHI_DDGAIN;
+static const float theta_ddgain[] = STABILIZATION_ATTITUDE_FLOAT_THETA_DDGAIN;
+static const float psi_ddgain[] = STABILIZATION_ATTITUDE_FLOAT_PSI_DDGAIN;
-static const float phi_dgain_d[] = STABILIZATION_ATTITUDE_PHI_DGAIN_D;
-static const float theta_dgain_d[] = STABILIZATION_ATTITUDE_THETA_DGAIN_D;
-static const float psi_dgain_d[] = STABILIZATION_ATTITUDE_PSI_DGAIN_D;
+static const float phi_dgain_d[] = STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN_D;
+static const float theta_dgain_d[] =
STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN_D;
+static const float psi_dgain_d[] = STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN_D;
-static const float phi_pgain_surface[] =
STABILIZATION_ATTITUDE_PHI_PGAIN_SURFACE;
-static const float theta_pgain_surface[] =
STABILIZATION_ATTITUDE_THETA_PGAIN_SURFACE;
-static const float psi_pgain_surface[] =
STABILIZATION_ATTITUDE_PSI_PGAIN_SURFACE;
+static const float phi_pgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PHI_PGAIN_SURFACE;
+static const float theta_pgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_THETA_PGAIN_SURFACE;
+static const float psi_pgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PSI_PGAIN_SURFACE;
-static const float phi_dgain_surface[] =
STABILIZATION_ATTITUDE_PHI_DGAIN_SURFACE;
-static const float theta_dgain_surface[] =
STABILIZATION_ATTITUDE_THETA_DGAIN_SURFACE;
-static const float psi_dgain_surface[] =
STABILIZATION_ATTITUDE_PSI_DGAIN_SURFACE;
+static const float phi_dgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PHI_DGAIN_SURFACE;
+static const float theta_dgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_THETA_DGAIN_SURFACE;
+static const float psi_dgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PSI_DGAIN_SURFACE;
-static const float phi_igain_surface[] =
STABILIZATION_ATTITUDE_PHI_IGAIN_SURFACE;
-static const float theta_igain_surface[] =
STABILIZATION_ATTITUDE_THETA_IGAIN_SURFACE;
-static const float psi_igain_surface[] =
STABILIZATION_ATTITUDE_PSI_IGAIN_SURFACE;
+static const float phi_igain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PHI_IGAIN_SURFACE;
+static const float theta_igain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_THETA_IGAIN_SURFACE;
+static const float psi_igain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PSI_IGAIN_SURFACE;
-static const float phi_ddgain_surface[] =
STABILIZATION_ATTITUDE_PHI_DDGAIN_SURFACE;
-static const float theta_ddgain_surface[] =
STABILIZATION_ATTITUDE_THETA_DDGAIN_SURFACE;
-static const float psi_ddgain_surface[] =
STABILIZATION_ATTITUDE_PSI_DDGAIN_SURFACE;
+static const float phi_ddgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PHI_DDGAIN_SURFACE;
+static const float theta_ddgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_THETA_DDGAIN_SURFACE;
+static const float psi_ddgain_surface[] =
STABILIZATION_ATTITUDE_FLOAT_PSI_DDGAIN_SURFACE;
#define IERROR_SCALE 1024
@@ -85,7 +85,7 @@
stabilization_attitude_ref_init();
- for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
+ for (int i = 0; i < STABILIZATION_ATTITUDE_FLOAT_GAIN_NB; i++) {
VECT3_ASSIGN(stabilization_gains[i].p, phi_pgain[i], theta_pgain[i],
psi_pgain[i]);
VECT3_ASSIGN(stabilization_gains[i].d, phi_dgain[i], theta_dgain[i],
psi_dgain[i]);
VECT3_ASSIGN(stabilization_gains[i].i, phi_igain[i], theta_igain[i],
psi_igain[i]);
@@ -103,7 +103,7 @@
void stabilization_attitude_gain_schedule(uint8_t idx)
{
- if (gain_idx >= STABILIZATION_ATTITUDE_GAIN_NB) {
+ if (gain_idx >= STABILIZATION_ATTITUDE_FLOAT_GAIN_NB) {
// This could be bad -- Just say no.
return;
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
2010-10-06 05:35:44 UTC (rev 6089)
@@ -21,21 +21,21 @@
*/
#define DT_UPDATE (1./512.)
-#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
-#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
-#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_REF_MAX_RDOT
+#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_FLOAT_REF_MAX_PDOT
+#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_FLOAT_REF_MAX_QDOT
+#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_FLOAT_REF_MAX_RDOT
-#define REF_RATE_MAX_P STABILIZATION_ATTITUDE_REF_MAX_P
-#define REF_RATE_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_Q
-#define REF_RATE_MAX_R STABILIZATION_ATTITUDE_REF_MAX_R
+#define REF_RATE_MAX_P STABILIZATION_ATTITUDE_FLOAT_REF_MAX_P
+#define REF_RATE_MAX_Q STABILIZATION_ATTITUDE_FLOAT_REF_MAX_Q
+#define REF_RATE_MAX_R STABILIZATION_ATTITUDE_FLOAT_REF_MAX_R
-#define OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P
-#define OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q
-#define OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R
+#define OMEGA_P STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_P
+#define OMEGA_Q STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_Q
+#define OMEGA_R STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_R
-#define ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P
-#define ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q
-#define ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R
+#define ZETA_P STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_P
+#define ZETA_Q STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_Q
+#define ZETA_R STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_R
#define USE_REF 1
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-10-06 05:35:44 UTC (rev 6089)
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
-#define STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
+#ifndef STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
+#define STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H
#include "booz_radio_control.h"
#include "math/pprz_algebra_float.h"
@@ -33,9 +33,9 @@
/*
* Radio Control
*/
-#define SP_MAX_PHI STABILIZATION_ATTITUDE_SP_MAX_PHI
-#define SP_MAX_THETA STABILIZATION_ATTITUDE_SP_MAX_THETA
-#define SP_MAX_R STABILIZATION_ATTITUDE_SP_MAX_R
+#define SP_MAX_PHI STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI
+#define SP_MAX_THETA STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA
+#define SP_MAX_R STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R
@@ -44,10 +44,10 @@
#define RC_UPDATE_FREQ 40.
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \
+ radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
-#define STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
+#define STABILIZATION_ATTITUDE_FLOAT_READ_RC(_sp, _inflight) { \
\
_sp.phi = \
(-radio_control.values[RADIO_CONTROL_ROLL] * SP_MAX_PHI / MAX_PPRZ); \
@@ -65,7 +65,7 @@
} \
}
-#define STABILIZATION_ATTITUDE_ADD_SP(_add_sp) { \
+#define STABILIZATION_ATTITUDE_FLOAT_ADD_SP(_add_sp) { \
struct FloatEulers add_sp_float; \
EULERS_FLOAT_OF_BFP(add_sp_float, (_add_sp)); \
EULERS_ADD(stabilization_att_sp,add_sp_float); \
@@ -74,4 +74,4 @@
-#endif /* STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H */
+#endif /* STABILIZATION_ATTITUDE_FLOAT_REF_EULER_FLOAT_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
2010-10-06 05:35:44 UTC (rev 6089)
@@ -33,9 +33,9 @@
#include "stabilization_attitude_ref_float.h"
#include "quat_setpoint.h"
-#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
-#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
-#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_REF_MAX_RDOT
+#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_FLOAT_REF_MAX_PDOT
+#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_FLOAT_REF_MAX_QDOT
+#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_FLOAT_REF_MAX_RDOT
struct FloatEulers booz_stab_att_sp_euler;
struct FloatQuat booz_stab_att_sp_quat;
@@ -44,16 +44,16 @@
struct FloatRates booz_stab_att_ref_rate;
struct FloatRates booz_stab_att_ref_accel;
-struct FloatRefModel booz_stab_att_ref_model[STABILIZATION_ATTITUDE_GAIN_NB];
+struct FloatRefModel
booz_stab_att_ref_model[STABILIZATION_ATTITUDE_FLOAT_GAIN_NB];
-static int ref_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
+static int ref_idx = STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT;
-static const float omega_p[] = STABILIZATION_ATTITUDE_REF_OMEGA_P;
-static const float zeta_p[] = STABILIZATION_ATTITUDE_REF_ZETA_P;
-static const float omega_q[] = STABILIZATION_ATTITUDE_REF_OMEGA_Q;
-static const float zeta_q[] = STABILIZATION_ATTITUDE_REF_ZETA_Q;
-static const float omega_r[] = STABILIZATION_ATTITUDE_REF_OMEGA_R;
-static const float zeta_r[] = STABILIZATION_ATTITUDE_REF_ZETA_R;
+static const float omega_p[] = STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_P;
+static const float zeta_p[] = STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_P;
+static const float omega_q[] = STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_Q;
+static const float zeta_q[] = STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_Q;
+static const float omega_r[] = STABILIZATION_ATTITUDE_FLOAT_REF_OMEGA_R;
+static const float zeta_r[] = STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_R;
static void reset_psi_ref_from_body(void) {
booz_stab_att_ref_euler.psi = ahrs_float.ltp_to_body_euler.psi;
@@ -82,7 +82,7 @@
FLOAT_RATES_ZERO( booz_stab_att_ref_rate);
FLOAT_RATES_ZERO( booz_stab_att_ref_accel);
- for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
+ for (int i = 0; i < STABILIZATION_ATTITUDE_FLOAT_GAIN_NB; i++) {
RATES_ASSIGN(booz_stab_att_ref_model[i].omega, omega_p[i], omega_q[i],
omega_r[i]);
RATES_ASSIGN(booz_stab_att_ref_model[i].zeta, zeta_p[i], zeta_q[i],
zeta_r[i]);
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-10-06 05:20:17 UTC (rev 6088)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-10-06 05:35:44 UTC (rev 6089)
@@ -20,8 +20,8 @@
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
-#ifndef STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
-#define STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
+#ifndef STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
+#define STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H
#include <firmwares/rotorcraft/stabilization.h>
@@ -31,29 +31,29 @@
#include "stabilization_attitude_ref_float.h"
#define RC_UPDATE_FREQ 40.
-#define ROLL_COEF (STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
-#define ROLL_COEF_H (STABILIZATION_ATTITUDE_SP_MAX_P_H / MAX_PPRZ)
-#define PITCH_COEF ( STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
-#define YAW_COEF (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)
+#define ROLL_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ)
+#define ROLL_COEF_H (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H / MAX_PPRZ)
+#define PITCH_COEF ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ)
+#define YAW_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI / MAX_PPRZ)
-#define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
-#define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)
-#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
+#define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ)
+#define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_Q / MAX_PPRZ)
+#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R / MAX_PPRZ)
#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE <
-VALUE))
#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ?
VARIABLE : 0.0)
#define ROLL_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_ROLL] >
STABILIZATION_ATTITUDE_DEADBAND_A || \
- radio_control.values[RADIO_CONTROL_ROLL] <
-STABILIZATION_ATTITUDE_DEADBAND_A)
+ (radio_control.values[RADIO_CONTROL_ROLL] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A || \
+ radio_control.values[RADIO_CONTROL_ROLL] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A)
#define PITCH_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_PITCH] >
STABILIZATION_ATTITUDE_DEADBAND_E || \
- radio_control.values[RADIO_CONTROL_PITCH] <
-STABILIZATION_ATTITUDE_DEADBAND_E)
+ (radio_control.values[RADIO_CONTROL_PITCH] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E || \
+ radio_control.values[RADIO_CONTROL_PITCH] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E)
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \
+ radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
void stabilization_attitude_ref_enter(void);
void stabilization_attitude_ref_schedule(uint8_t idx);
-#endif /* STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H */
+#endif /* STABILIZATION_ATTITUDE_FLOAT_REF_QUAT_FLOAT_H */
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- [paparazzi-commits] [6089] Update stabilization float variants to use STABILIZATION_FLOAT instead of STABILIZATION .,
Allen Ibara <=