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_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 */
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));
#define INTEGRATOR_BOUND 100000
/* integrated error */
if (enable_integrator) {
stabilization_att_sum_err_quat.qx += att_err.qx / IERROR_SCALE;
stabilization_att_sum_err_quat.qy += att_err.qy / IERROR_SCALE;
stabilization_att_sum_err_quat.qz += att_err.qz / IERROR_SCALE;
Bound(stabilization_att_sum_err_quat.qx, -INTEGRATOR_BOUND, INTEGRATOR_BOUND);
Bound(stabilization_att_sum_err_quat.qy, -INTEGRATOR_BOUND, INTEGRATOR_BOUND);
Bound(stabilization_att_sum_err_quat.qz, -INTEGRATOR_BOUND, INTEGRATOR_BOUND);
} else {
/* reset accumulator */
int32_quat_identity(&stabilization_att_sum_err_quat);
}
/* 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_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);
}