void stabilization_attitude_run(bool_t enable_integrator) {
/*
* Update reference
*/
stabilization_attitude_ref_update();
/*
* Compute errors for feedback
*/
/* attitude error */
struct Int32Quat att_err;
struct Int32Quat* att_quat = stateGetNedToBodyQuat_i();
INT32_QUAT_INV_COMP(att_err, *att_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
INT32_QUAT_WRAP_SHORTEST(att_err);
INT32_QUAT_NORMALIZE(att_err);
/* rate error */
struct Int32Rates rate_err;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(rate_err, stab_att_ref_rate, *body_rate);
/* integrated error */
if (enable_integrator) {
struct Int32Quat new_sum_err, scaled_att_err;
/* update accumulator */
scaled_att_err.qi = att_err.qi;
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
INT32_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
INT32_QUAT_NORMALIZE(new_sum_err);
QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
INT32_EULERS_OF_QUAT(stabilization_att_sum_err, stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
INT_EULERS_ZERO( stabilization_att_sum_err );
}
/* compute the feed forward command */
attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains, &stab_att_ref_accel);
/* compute the feed back command */
attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains, &att_err, &rate_err, &stabilization_att_sum_err_quat);
/* sum feedforward and feedback */
stabilization_cmd[COMMAND_ROLL] = stabilization_att_fb_cmd[COMMAND_ROLL] + stabilization_att_ff_cmd[COMMAND_ROLL];
stabilization_cmd[COMMAND_PITCH] = stabilization_att_fb_cmd[COMMAND_PITCH] + stabilization_att_ff_cmd[COMMAND_PITCH];
stabilization_cmd[COMMAND_YAW] = stabilization_att_fb_cmd[COMMAND_YAW] + stabilization_att_ff_cmd[COMMAND_YAW];
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_attitude_run(bool_t enable_integrator) {
/*
* Update reference
*/
stabilization_attitude_ref_update();
/*
* Compute errors for feedback
*/
/* attitude error */
struct Int32Quat att_err;
INT32_QUAT_INV_COMP(att_err, ahrs.ltp_to_body_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
INT32_QUAT_WRAP_SHORTEST(att_err);
INT32_QUAT_NORMALIZE(att_err);
/* rate error */
struct Int32Rates rate_err;
RATES_DIFF(rate_err, ahrs.body_rate, stab_att_ref_rate);
/* integrated error */
if (enable_integrator) {
struct Int32Quat new_sum_err, scaled_att_err;
/* update accumulator */
scaled_att_err.qi = att_err.qi;
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
INT32_QUAT_COMP_INV(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
INT32_QUAT_NORMALIZE(new_sum_err);
QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
INT32_EULERS_OF_QUAT(stabilization_att_sum_err, stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
INT_EULERS_ZERO( stabilization_att_sum_err );
}
attitude_run_ff(stabilization_att_ff_cmd, current_stabilization_gains, &stab_att_ref_accel);
attitude_run_fb(stabilization_att_fb_cmd, current_stabilization_gains, &att_err, &rate_err, &stabilization_att_sum_err_quat);
for (int i = COMMAND_ROLL; i <= COMMAND_YAW; i++) {
stabilization_cmd[i] = stabilization_att_fb_cmd[i]+stabilization_att_ff_cmd[i];
Bound(stabilization_cmd[i], -200, 200);
}
}
float test_INT32_QUAT_OF_RMAT(struct FloatEulers* eul_f, bool_t display) {
struct Int32Eulers eul312_i;
EULERS_BFP_OF_REAL(eul312_i, (*eul_f));
if (display) DISPLAY_INT32_EULERS("eul312_i", eul312_i);
struct FloatRMat rmat_f;
FLOAT_RMAT_OF_EULERS_312(rmat_f, (*eul_f));
if (display) DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat float", rmat_f);
if (display) DISPLAY_FLOAT_RMAT("rmat float", rmat_f);
struct Int32RMat rmat_i;
INT32_RMAT_OF_EULERS_312(rmat_i, eul312_i);
if (display) DISPLAY_INT32_RMAT_AS_EULERS_DEG("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT_AS_FLOAT("rmat int", rmat_i);
struct FloatQuat qf;
FLOAT_QUAT_OF_RMAT(qf, rmat_f);
FLOAT_QUAT_WRAP_SHORTEST(qf);
if (display) DISPLAY_FLOAT_QUAT("qf", qf);
struct Int32Quat qi;
INT32_QUAT_OF_RMAT(qi, rmat_i);
INT32_QUAT_WRAP_SHORTEST(qi);
if (display) DISPLAY_INT32_QUAT("qi", qi);
if (display) DISPLAY_INT32_QUAT_2("qi", qi);
struct FloatQuat qif;
QUAT_FLOAT_OF_BFP(qif, qi);
struct FloatQuat qerr;
QUAT_DIFF(qerr, qif, qf);
float err_norm = FLOAT_QUAT_NORM(qerr);
if (display) printf("err %f\n", err_norm);
if (display) printf("\n");
return err_norm;
}
void stabilization_attitude_set_from_eulers_i(struct Int32Eulers *sp_euler) {
// copy euler setpoint for debugging
memcpy(&stab_att_sp_euler, sp_euler, sizeof(struct Int32Eulers));
INT32_QUAT_OF_EULERS(stab_att_sp_quat, *sp_euler);
INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
}
