void stabilization_indi_init(void) { // Initialize filters indi_init_filters(); #if PERIODIC_TELEMETRY register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_INDI, send_att_indi); #endif }
void stabilization_indi_enter(void) { /* reset psi setpoint to current psi angle */ stab_att_sp_euler.psi = stabilization_attitude_get_heading_i(); FLOAT_RATES_ZERO(indi.angular_accel_ref); FLOAT_RATES_ZERO(indi.u_act_dyn); FLOAT_RATES_ZERO(indi.u_in); // Re-initialize filters indi_init_filters(); }