Ejemplos de stabilization_attitude_read_rc_setpoint_eulers_f en C++ (Cpp)

Ejemplo n.º 1

Archivo: stabilization_attitude_rc_setpoint.c Proyecto: HoplaHopla/paparazzi

//Function that reads the rc setpoint in an earth bound frame
void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat* q_sp, bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) {
  // FIXME: remove me, do in quaternion directly
  // is currently still needed, since the yaw setpoint integration is done in eulers
  #if defined STABILIZATION_ATTITUDE_TYPE_INT
  stabilization_attitude_read_rc_setpoint_eulers(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn);
  #else
  stabilization_attitude_read_rc_setpoint_eulers_f(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn);
  #endif

  const struct FloatVect3 zaxis = {0., 0., 1.};

  struct FloatQuat q_rp_cmd;
  stabilization_attitude_read_rc_roll_pitch_earth_quat_f(&q_rp_cmd);

  if (in_flight) {
    /* get current heading setpoint */
    struct FloatQuat q_yaw_sp;

    #if defined STABILIZATION_ATTITUDE_TYPE_INT
    FLOAT_QUAT_OF_AXIS_ANGLE(q_yaw_sp, zaxis, ANGLE_FLOAT_OF_BFP(stab_att_sp_euler.psi));
    #else
    FLOAT_QUAT_OF_AXIS_ANGLE(q_yaw_sp, zaxis, stab_att_sp_euler.psi);
    #endif

    FLOAT_QUAT_COMP(*q_sp, q_yaw_sp, q_rp_cmd);
  }
  else {
    struct FloatQuat q_yaw;
    FLOAT_QUAT_OF_AXIS_ANGLE(q_yaw, zaxis, stateGetNedToBodyEulers_f()->psi);

    /* roll/pitch commands applied to to current heading */
    struct FloatQuat q_rp_sp;
    FLOAT_QUAT_COMP(q_rp_sp, q_yaw, q_rp_cmd);
    FLOAT_QUAT_NORMALIZE(q_rp_sp);

    QUAT_COPY(*q_sp, q_rp_sp);
  }
}

Ejemplo n.º 2

Archivo: stabilization_attitude_euler_float.c Proyecto: Henricus-Basien/paparazzi

void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) {
  stabilization_attitude_read_rc_setpoint_eulers_f(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn);
}

Ejemplo n.º 3

Archivo: stabilization_attitude_euler_float.c Proyecto: SayCV/paparazzi

void stabilization_attitude_read_rc(bool_t in_flight) {
  stabilization_attitude_read_rc_setpoint_eulers_f(&stab_att_sp_euler, in_flight);
}