void stabilization_attitude_run(bool_t enable_integrator) { /* Propagate the second order filter on the gyroscopes */ struct FloatRates *body_rates = stateGetBodyRates_f(); stabilization_indi_second_order_filter(body_rates, &indi.filtered_rate_2deriv, &indi.filtered_rate_deriv, &indi.filtered_rate, STABILIZATION_INDI_FILT_OMEGA, STABILIZATION_INDI_FILT_ZETA, STABILIZATION_INDI_FILT_OMEGA_R); /* attitude error */ struct Int32Quat att_err; struct Int32Quat *att_quat = stateGetNedToBodyQuat_i(); // INT32_QUAT_INV_COMP(att_err, *att_quat, stab_att_sp_quat); int32_quat_inv_comp(&att_err, att_quat, &stab_att_sp_quat); /* wrap it in the shortest direction */ int32_quat_wrap_shortest(&att_err); int32_quat_normalize(&att_err); /* compute the INDI command */ attitude_run_indi(stabilization_att_indi_cmd, &att_err, enable_integrator); stabilization_cmd[COMMAND_ROLL] = stabilization_att_indi_cmd[COMMAND_ROLL]; stabilization_cmd[COMMAND_PITCH] = stabilization_att_indi_cmd[COMMAND_PITCH]; stabilization_cmd[COMMAND_YAW] = stabilization_att_indi_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_indi_run(bool enable_integrator __attribute__((unused)), bool rate_control) { /* attitude error */ struct Int32Quat att_err; struct Int32Quat *att_quat = stateGetNedToBodyQuat_i(); int32_quat_inv_comp(&att_err, att_quat, &stab_att_sp_quat); /* wrap it in the shortest direction */ int32_quat_wrap_shortest(&att_err); int32_quat_normalize(&att_err); /* compute the INDI command */ stabilization_indi_calc_cmd(stabilization_att_indi_cmd, &att_err, rate_control); /* copy the INDI command */ stabilization_cmd[COMMAND_ROLL] = stabilization_att_indi_cmd[COMMAND_ROLL]; stabilization_cmd[COMMAND_PITCH] = stabilization_att_indi_cmd[COMMAND_PITCH]; stabilization_cmd[COMMAND_YAW] = stabilization_att_indi_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); }