void stabilization_attitude_run(bool_t in_flight) {
stabilization_attitude_ref_update();
/* Compute feedforward */
stabilization_att_ff_cmd[COMMAND_ROLL] =
stabilization_gains.dd.x * stab_att_ref_accel.p / 32.;
stabilization_att_ff_cmd[COMMAND_PITCH] =
stabilization_gains.dd.y * stab_att_ref_accel.q / 32.;
stabilization_att_ff_cmd[COMMAND_YAW] =
stabilization_gains.dd.z * stab_att_ref_accel.r / 32.;
/* Compute feedback */
/* attitude error */
struct FloatEulers *att_float = stateGetNedToBodyEulers_f();
struct FloatEulers att_err;
EULERS_DIFF(att_err, stab_att_ref_euler, *att_float);
FLOAT_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
/* update integrator */
EULERS_ADD(stabilization_att_sum_err, att_err);
EULERS_BOUND_CUBE(stabilization_att_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
FLOAT_EULERS_ZERO(stabilization_att_sum_err);
}
/* rate error */
struct FloatRates* rate_float = stateGetBodyRates_f();
struct FloatRates rate_err;
RATES_DIFF(rate_err, stab_att_ref_rate, *rate_float);
/* PID */
stabilization_att_fb_cmd[COMMAND_ROLL] =
stabilization_gains.p.x * att_err.phi +
stabilization_gains.d.x * rate_err.p +
stabilization_gains.i.x * stabilization_att_sum_err.phi / 1024.;
stabilization_att_fb_cmd[COMMAND_PITCH] =
stabilization_gains.p.y * att_err.theta +
stabilization_gains.d.y * rate_err.q +
stabilization_gains.i.y * stabilization_att_sum_err.theta / 1024.;
stabilization_att_fb_cmd[COMMAND_YAW] =
stabilization_gains.p.z * att_err.psi +
stabilization_gains.d.z * rate_err.r +
stabilization_gains.i.z * stabilization_att_sum_err.psi / 1024.;
stabilization_cmd[COMMAND_ROLL] =
(stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL])/16.;
stabilization_cmd[COMMAND_PITCH] =
(stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH])/16.;
stabilization_cmd[COMMAND_YAW] =
(stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW])/16.;
}
void stabilization_attitude_run(bool_t in_flight) {
/* update reference */
stabilization_attitude_ref_update();
/* compute feedforward command */
stabilization_att_ff_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5);
stabilization_att_ff_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5);
stabilization_att_ff_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5);
/* compute feedback command */
/* attitude error */
const struct Int32Eulers att_ref_scaled = {
OFFSET_AND_ROUND(stab_att_ref_euler.phi, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_euler.theta, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_euler.psi, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC))
};
struct Int32Eulers att_err;
struct Int32Eulers* ltp_to_body_euler = stateGetNedToBodyEulers_i();
EULERS_DIFF(att_err, att_ref_scaled, (*ltp_to_body_euler));
INT32_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
/* update integrator */
EULERS_ADD(stabilization_att_sum_err, att_err);
EULERS_BOUND_CUBE(stabilization_att_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
INT_EULERS_ZERO(stabilization_att_sum_err);
}
/* rate error */
const struct Int32Rates rate_ref_scaled = {
OFFSET_AND_ROUND(stab_att_ref_rate.p, (REF_RATE_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_rate.q, (REF_RATE_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_rate.r, (REF_RATE_FRAC - INT32_RATE_FRAC))
};
struct Int32Rates rate_err;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(rate_err, rate_ref_scaled, (*body_rate));
/* PID */
stabilization_att_fb_cmd[COMMAND_ROLL] =
stabilization_gains.p.x * att_err.phi +
stabilization_gains.d.x * rate_err.p +
OFFSET_AND_ROUND2((stabilization_gains.i.x * stabilization_att_sum_err.phi), 10);
stabilization_att_fb_cmd[COMMAND_PITCH] =
stabilization_gains.p.y * att_err.theta +
stabilization_gains.d.y * rate_err.q +
OFFSET_AND_ROUND2((stabilization_gains.i.y * stabilization_att_sum_err.theta), 10);
stabilization_att_fb_cmd[COMMAND_YAW] =
stabilization_gains.p.z * att_err.psi +
stabilization_gains.d.z * rate_err.r +
OFFSET_AND_ROUND2((stabilization_gains.i.z * stabilization_att_sum_err.psi), 10);
/* with P gain of 100, att_err of 180deg (3.14 rad)
* fb cmd: 100 * 3.14 * 2^12 / 2^CMD_SHIFT = 628
* max possible command is 9600
*/
#define CMD_SHIFT 11
/* sum feedforward and feedback */
stabilization_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]), CMD_SHIFT);
stabilization_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]), CMD_SHIFT);
stabilization_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]), CMD_SHIFT);
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}