Exemplos de stabilization_attitude_ref_init em C++ (Cpp)

Exemplo n.º 1

Arquivo: stabilization_attitude_euler_float.c Projeto: Henricus-Basien/paparazzi

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  VECT3_ASSIGN(stabilization_gains.p,
               STABILIZATION_ATTITUDE_PHI_PGAIN,
               STABILIZATION_ATTITUDE_THETA_PGAIN,
               STABILIZATION_ATTITUDE_PSI_PGAIN);

  VECT3_ASSIGN(stabilization_gains.d,
               STABILIZATION_ATTITUDE_PHI_DGAIN,
               STABILIZATION_ATTITUDE_THETA_DGAIN,
               STABILIZATION_ATTITUDE_PSI_DGAIN);

  VECT3_ASSIGN(stabilization_gains.i,
               STABILIZATION_ATTITUDE_PHI_IGAIN,
               STABILIZATION_ATTITUDE_THETA_IGAIN,
               STABILIZATION_ATTITUDE_PSI_IGAIN);

  VECT3_ASSIGN(stabilization_gains.dd,
               STABILIZATION_ATTITUDE_PHI_DDGAIN,
               STABILIZATION_ATTITUDE_THETA_DDGAIN,
               STABILIZATION_ATTITUDE_PSI_DDGAIN);

  FLOAT_EULERS_ZERO( stabilization_att_sum_err );

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
#endif
}

Exemplo n.º 2

Arquivo: stabilization_attitude_quat_int.c Projeto: ERAUBB/paparazzi

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
  INT_EULERS_ZERO( stabilization_att_sum_err );
}

Exemplo n.º 3

Arquivo: stabilization_attitude_quat_float.c Projeto: HeinrichChristian/paparazzi

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
    VECT3_ASSIGN(stabilization_gains[i].p, phi_pgain[i], theta_pgain[i], psi_pgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].d, phi_dgain[i], theta_dgain[i], psi_dgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].i, phi_igain[i], theta_igain[i], psi_igain[i]);
    VECT3_ASSIGN(stabilization_gains[i].dd, phi_ddgain[i], theta_ddgain[i], psi_ddgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].rates_d, phi_dgain_d[i], theta_dgain_d[i], psi_dgain_d[i]);
#ifdef HAS_SURFACE_COMMANDS
    VECT3_ASSIGN(stabilization_gains[i].surface_p, phi_pgain_surface[i], theta_pgain_surface[i], psi_pgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_d, phi_dgain_surface[i], theta_dgain_surface[i], psi_dgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_i, phi_igain_surface[i], theta_igain_surface[i], psi_igain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_dd, phi_ddgain_surface[i], theta_ddgain_surface[i], psi_ddgain_surface[i]);
#endif
  }

  FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
  FLOAT_EULERS_ZERO( stabilization_att_sum_err );
  FLOAT_RATES_ZERO( last_body_rate );
  FLOAT_RATES_ZERO( body_rate_d );

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
#endif
}

Exemplo n.º 4

Arquivo: stabilization_attitude_euler_int.c Projeto: rdeandrade/paparazzi

void stabilization_attitude_init(void) {

    stabilization_attitude_ref_init();


    VECT3_ASSIGN(stabilization_gains.p,
                 STABILIZATION_ATTITUDE_PHI_PGAIN,
                 STABILIZATION_ATTITUDE_THETA_PGAIN,
                 STABILIZATION_ATTITUDE_PSI_PGAIN);

    VECT3_ASSIGN(stabilization_gains.d,
                 STABILIZATION_ATTITUDE_PHI_DGAIN,
                 STABILIZATION_ATTITUDE_THETA_DGAIN,
                 STABILIZATION_ATTITUDE_PSI_DGAIN);

    VECT3_ASSIGN(stabilization_gains.i,
                 STABILIZATION_ATTITUDE_PHI_IGAIN,
                 STABILIZATION_ATTITUDE_THETA_IGAIN,
                 STABILIZATION_ATTITUDE_PSI_IGAIN);

    VECT3_ASSIGN(stabilization_gains.dd,
                 STABILIZATION_ATTITUDE_PHI_DDGAIN,
                 STABILIZATION_ATTITUDE_THETA_DDGAIN,
                 STABILIZATION_ATTITUDE_PSI_DDGAIN);


    INT_EULERS_ZERO( stabilization_att_sum_err );

}

Exemplo n.º 5

Arquivo: stabilization_attitude_quat_indi.c Projeto: robinjanssen/paparazzi

void stabilization_attitude_init(void)
{

  stabilization_attitude_ref_init();

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_INDI", send_att_indi);
#endif
}

Exemplo n.º 6

Arquivo: stabilization_attitude_quat_int.c Projeto: 1bitsquared/paparazzi

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
  INT_EULERS_ZERO( stabilization_att_sum_err );

#if PERIODIC_TELEMETRY
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
  register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
  register_periodic_telemetry(DefaultPeriodic, "AHRS_REF_QUAT", send_ahrs_ref_quat);
#endif
}

Exemplo n.º 7

Arquivo: stabilization_attitude_quat_float.c Projeto: Paolo-Maffei/lxyppc-tetrix

void stabilization_attitude_init(void) {

  stabilization_attitude_ref_init();

  for (int i = 0; i < STABILIZATION_ATTITUDE_FLOAT_GAIN_NB; i++) {
    VECT3_ASSIGN(stabilization_gains[i].p, phi_pgain[i], theta_pgain[i], psi_pgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].d, phi_dgain[i], theta_dgain[i], psi_dgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].i, phi_igain[i], theta_igain[i], psi_igain[i]);
    VECT3_ASSIGN(stabilization_gains[i].dd, phi_ddgain[i], theta_ddgain[i], psi_ddgain[i]);
    VECT3_ASSIGN(stabilization_gains[i].rates_d, phi_dgain_d[i], theta_dgain_d[i], psi_dgain_d[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_p, phi_pgain_surface[i], theta_pgain_surface[i], psi_pgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_d, phi_dgain_surface[i], theta_dgain_surface[i], psi_dgain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_i, phi_igain_surface[i], theta_igain_surface[i], psi_igain_surface[i]);
    VECT3_ASSIGN(stabilization_gains[i].surface_dd, phi_ddgain_surface[i], theta_ddgain_surface[i], psi_ddgain_surface[i]);
  }

  FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
  FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}