C++ (Cpp) pprz_msg_send_STAB_ATTITUDE_INDI Examples

Example #1

File: stabilization_attitude_quat_indi.c Project: nvelozsavino/paparazzi

static void send_att_indi(struct transport_tx *trans, struct link_device *dev)
{
    //The estimated G values are scaled, so scale them back before sending
    struct FloatRates g_est_disp;
    RATES_SMUL(g_est_disp, g_est, INDI_EST_SCALE);
    float g2_est_disp = g2_est * INDI_EST_SCALE;

    pprz_msg_send_STAB_ATTITUDE_INDI(trans, dev, AC_ID,
                                     &indi.filtered_rate_deriv.p,
                                     &indi.filtered_rate_deriv.q,
                                     &indi.filtered_rate_deriv.r,
                                     &indi.angular_accel_ref.p,
                                     &indi.angular_accel_ref.q,
                                     &indi.angular_accel_ref.r,
                                     &g_est_disp.p,
                                     &g_est_disp.q,
                                     &g_est_disp.r,
                                     &g2_est_disp);
}

Example #2

File: stabilization_indi.c Project: Merafour/paparazzi

static void send_att_indi(struct transport_tx *trans, struct link_device *dev)
{
  //The estimated G values are scaled, so scale them back before sending
  struct FloatRates g1_disp;
  RATES_SMUL(g1_disp, indi.est.g1, INDI_EST_SCALE);
  float g2_disp = indi.est.g2 * INDI_EST_SCALE;

  pprz_msg_send_STAB_ATTITUDE_INDI(trans, dev, AC_ID,
                                   &indi.rate.dx.p,
                                   &indi.rate.dx.q,
                                   &indi.rate.dx.r,
                                   &indi.angular_accel_ref.p,
                                   &indi.angular_accel_ref.q,
                                   &indi.angular_accel_ref.r,
                                   &g1_disp.p,
                                   &g1_disp.q,
                                   &g1_disp.r,
                                   &g2_disp);
}