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[paparazzi-commits] [6016] rename booz_stabilization to stabilization
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6016] rename booz_stabilization to stabilization |
|
Date: |
Tue, 28 Sep 2010 15:47:38 +0000 |
Revision: 6016
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6016
Author: flixr
Date: 2010-09-28 15:47:38 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
rename booz_stabilization to stabilization
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
paparazzi3/trunk/conf/airframes/booz2_Aron.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
paparazzi3/trunk/conf/airframes/booz2_flixr.xml
paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml
paparazzi3/trunk/conf/airframes/booz2_s1.xml
paparazzi3/trunk/conf/airframes/booz2_x1.xml
paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml
paparazzi3/trunk/conf/autopilot/mercury.makefile
paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
paparazzi3/trunk/conf/settings/settings_booz2.xml
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
paparazzi3/trunk/sw/airborne/csc/mercury_main.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.h
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -87,7 +87,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -99,7 +99,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -83,7 +83,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -95,7 +95,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -121,7 +121,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -133,7 +133,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -146,7 +146,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified:
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
===================================================================
---
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
2010-09-28 15:47:38 UTC (rev 6016)
@@ -70,7 +70,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -82,7 +82,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified:
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
===================================================================
---
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
2010-09-28 15:47:38 UTC (rev 6016)
@@ -70,7 +70,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -83,7 +83,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -84,7 +84,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -97,7 +97,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -82,7 +82,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -95,7 +95,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -71,7 +71,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -83,7 +83,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -58,7 +58,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -70,7 +70,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -60,7 +60,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -72,7 +72,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="3000"/>
<define name="SP_MAX_THETA" value="6000"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -81,7 +81,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -93,7 +93,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -82,7 +82,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -94,7 +94,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -81,7 +81,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -93,7 +93,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -138,7 +138,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -171,7 +171,7 @@
<define name="GAIN_R" value="-350"/> -->
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -69,7 +69,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -81,7 +81,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -68,7 +68,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -93,7 +93,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
2010-09-28 15:47:38 UTC (rev 6016)
@@ -68,7 +68,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -93,7 +93,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -137,7 +137,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -171,7 +171,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -77,7 +77,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -89,7 +89,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_Aron.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_Aron.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_Aron.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -77,7 +77,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -89,7 +89,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -68,7 +68,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -93,7 +93,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -68,7 +68,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -93,7 +93,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -68,7 +68,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -93,7 +93,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -90,7 +90,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -116,7 +116,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
Modified: paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -53,7 +53,7 @@
</section>
-<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
@@ -78,7 +78,7 @@
<define name="DDGAIN_R" value="300" />
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_s1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_s1.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_s1.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -72,7 +72,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -85,7 +85,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/booz2_x1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_x1.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/airframes/booz2_x1.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -83,7 +83,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -96,7 +96,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml 2010-09-28
15:47:38 UTC (rev 6016)
@@ -77,7 +77,7 @@
</section>
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
@@ -89,7 +89,7 @@
</section>
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
Modified: paparazzi3/trunk/conf/autopilot/mercury.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/mercury.makefile 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/autopilot/mercury.makefile 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -76,14 +76,14 @@
ap.srcs += $(SRC_BOOZ)/ahrs/ahrs_cmpl_euler.c $(SRC_BOOZ)/ahrs/ahrs_aligner.c
ap.CFLAGS += -DFLOAT_T=float
-ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
-ap.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
+ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
+ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
# AHI copied from booz w/ light modifications for vertical control
Modified: paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -181,15 +181,15 @@
ap.srcs += $(SRC_FIRMWARE)/autopilot.c
ap.srcs += math/pprz_trig_int.c
-ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
-ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
-ap.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
-ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
+ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
+ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
+ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
ap.CFLAGS += -DUSE_NAVIGATION
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
Modified: paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
2010-09-28 15:47:38 UTC (rev 6016)
@@ -97,8 +97,8 @@
# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#
-sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
-sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
+sim.srcs += $(SRC_FIRMWARE)/stabilization.c
+sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
NUM_TYPE=integer
#NUM_TYPE=float
@@ -108,27 +108,27 @@
ifeq ($(NUM_TYPE), integer)
sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
ifeq ($(STAB_TYPE), euler)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
else ifeq ($(STAB_TYPE), quaternion)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_int.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_int.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_int.c
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
+ sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
endif
else ifeq ($(NUM_TYPE), float)
sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_float.h\"
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\"
ifeq ($(STAB_TYPE), euler)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_float.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_float.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_float.c
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
else ifeq ($(STAB_TYPE), quaternion)
- sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_float.h\"
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_quat_float.c
- sim.srcs +=
$(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_float.c
+ sim.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
+ sim.srcs +=
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
endif
endif
Modified: paparazzi3/trunk/conf/settings/settings_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2.xml 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/conf/settings/settings_booz2.xml 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -22,25 +22,25 @@
</dl_settings>
<dl_settings NAME="Rate Loop">
- <dl_setting var="booz_stabilization_rate_gain.p" min="-1000" step="1"
max="-1" module="stabilization/booz_stabilization_rate" shortname="gain p"/>
- <dl_setting var="booz_stabilization_rate_gain.q" min="-1000" step="1"
max="-1" module="stabilization/booz_stabilization_rate" shortname="gain q"/>
- <dl_setting var="booz_stabilization_rate_gain.r" min="-1000" step="1"
max="-1" module="stabilization/booz_stabilization_rate" shortname="gain r"/>
+ <dl_setting var="stabilization_rate_gain.p" min="-1000" step="1"
max="-1" module="stabilization/stabilization_rate" shortname="gain p"/>
+ <dl_setting var="stabilization_rate_gain.q" min="-1000" step="1"
max="-1" module="stabilization/stabilization_rate" shortname="gain q"/>
+ <dl_setting var="stabilization_rate_gain.r" min="-1000" step="1"
max="-1" module="stabilization/stabilization_rate" shortname="gain r"/>
</dl_settings>
<dl_settings NAME="Att Loop">
- <dl_setting var="booz_stabilization_gains.p.x" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain
phi" />
- <dl_setting var="booz_stabilization_gains.d.x" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain
p"/>
- <dl_setting var="booz_stabilization_gains.i.x" min="-300" step="1"
max="0" module="stabilization/booz_stabilization_attitude" shortname="igain
phi" handler="SetKiPhi"/>
- <dl_setting var="booz_stabilization_gains.dd.x" min="0" step="1"
max="1000" module="stabilization/booz_stabilization_attitude" shortname="ddgain
p"/>
- <dl_setting var="booz_stabilization_gains.p.y" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain
theta"/>
- <dl_setting var="booz_stabilization_gains.d.y" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain
q"/>
- <dl_setting var="booz_stabilization_gains.i.y" min="-300" step="1"
max="0" module="stabilization/booz_stabilization_attitude" shortname="igain
theta"/>
- <dl_setting var="booz_stabilization_gains.dd.y" min="0" step="1"
max="500" module="stabilization/booz_stabilization_attitude" shortname="ddgain
q"/>
- <dl_setting var="booz_stabilization_gains.p.z" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain
psi"/>
- <dl_setting var="booz_stabilization_gains.d.z" min="-4000" step="1"
max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain
r"/>
- <dl_setting var="booz_stabilization_gains.i.z" min="-300" step="1"
max="0" module="stabilization/booz_stabilization_attitude" shortname="igain
psi"/>
- <dl_setting var="booz_stabilization_gains.dd.z" min="0" step="1"
max="2000" module="stabilization/booz_stabilization_attitude"
shortname="ddgain r"/>
+ <dl_setting var="stabilization_gains.p.x" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="pgain phi" />
+ <dl_setting var="stabilization_gains.d.x" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="dgain p"/>
+ <dl_setting var="stabilization_gains.i.x" min="-300" step="1" max="0"
module="stabilization/stabilization_attitude" shortname="igain phi"
handler="SetKiPhi"/>
+ <dl_setting var="stabilization_gains.dd.x" min="0" step="1"
max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p"/>
+ <dl_setting var="stabilization_gains.p.y" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="pgain theta"/>
+ <dl_setting var="stabilization_gains.d.y" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="dgain q"/>
+ <dl_setting var="stabilization_gains.i.y" min="-300" step="1" max="0"
module="stabilization/stabilization_attitude" shortname="igain theta"/>
+ <dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="500"
module="stabilization/stabilization_attitude" shortname="ddgain q"/>
+ <dl_setting var="stabilization_gains.p.z" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="pgain psi"/>
+ <dl_setting var="stabilization_gains.d.z" min="-4000" step="1" max="-1"
module="stabilization/stabilization_attitude" shortname="dgain r"/>
+ <dl_setting var="stabilization_gains.i.z" min="-300" step="1" max="0"
module="stabilization/stabilization_attitude" shortname="igain psi"/>
+ <dl_setting var="stabilization_gains.dd.z" min="0" step="1"
max="2000" module="stabilization/stabilization_attitude" shortname="ddgain r"/>
</dl_settings>
<dl_settings NAME="Vert Loop">
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -188,28 +188,28 @@
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) { \
DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan, \
- &booz_stabilization_rate_sp.p, \
- &booz_stabilization_rate_sp.q, \
- &booz_stabilization_rate_sp.r, \
- &booz_stabilization_rate_ref.p, \
- &booz_stabilization_rate_ref.q, \
- &booz_stabilization_rate_ref.r, \
- &booz_stabilization_rate_refdot.p, \
- &booz_stabilization_rate_refdot.q, \
- &booz_stabilization_rate_refdot.r, \
- &booz_stabilization_rate_sum_err.p, \
- &booz_stabilization_rate_sum_err.q, \
- &booz_stabilization_rate_sum_err.r, \
- &booz_stabilization_rate_ff_cmd.p, \
- &booz_stabilization_rate_ff_cmd.q, \
- &booz_stabilization_rate_ff_cmd.r, \
- &booz_stabilization_rate_fb_cmd.p, \
- &booz_stabilization_rate_fb_cmd.q, \
- &booz_stabilization_rate_fb_cmd.r, \
- &booz_stabilization_cmd[COMMAND_THRUST]); \
+ &stabilization_rate_sp.p, \
+ &stabilization_rate_sp.q, \
+ &stabilization_rate_sp.r, \
+ &stabilization_rate_ref.p, \
+ &stabilization_rate_ref.q, \
+ &stabilization_rate_ref.r, \
+ &stabilization_rate_refdot.p, \
+ &stabilization_rate_refdot.q, \
+ &stabilization_rate_refdot.r, \
+ &stabilization_rate_sum_err.p, \
+ &stabilization_rate_sum_err.q, \
+ &stabilization_rate_sum_err.r, \
+ &stabilization_rate_ff_cmd.p, \
+ &stabilization_rate_ff_cmd.q, \
+ &stabilization_rate_ff_cmd.r, \
+ &stabilization_rate_fb_cmd.p, \
+ &stabilization_rate_fb_cmd.q, \
+ &stabilization_rate_fb_cmd.r, \
+ &stabilization_cmd[COMMAND_THRUST]); \
}
#ifdef STABILISATION_ATTITUDE_TYPE_INT
@@ -224,18 +224,18 @@
&booz_stab_att_sp_euler.phi, \
&booz_stab_att_sp_euler.theta, \
&booz_stab_att_sp_euler.psi, \
- &booz_stabilization_att_sum_err.phi, \
-
&booz_stabilization_att_sum_err.theta, \
- &booz_stabilization_att_sum_err.psi, \
-
&booz_stabilization_att_fb_cmd[COMMAND_ROLL], \
-
&booz_stabilization_att_fb_cmd[COMMAND_PITCH], \
-
&booz_stabilization_att_fb_cmd[COMMAND_YAW], \
-
&booz_stabilization_att_ff_cmd[COMMAND_ROLL], \
-
&booz_stabilization_att_ff_cmd[COMMAND_PITCH], \
-
&booz_stabilization_att_ff_cmd[COMMAND_YAW], \
-
&booz_stabilization_cmd[COMMAND_ROLL], \
-
&booz_stabilization_cmd[COMMAND_PITCH], \
-
&booz_stabilization_cmd[COMMAND_YAW]); \
+ &stabilization_att_sum_err.phi, \
+ &stabilization_att_sum_err.theta, \
+ &stabilization_att_sum_err.psi, \
+
&stabilization_att_fb_cmd[COMMAND_ROLL], \
+
&stabilization_att_fb_cmd[COMMAND_PITCH], \
+
&stabilization_att_fb_cmd[COMMAND_YAW], \
+
&stabilization_att_ff_cmd[COMMAND_ROLL], \
+
&stabilization_att_ff_cmd[COMMAND_PITCH], \
+
&stabilization_att_ff_cmd[COMMAND_YAW], \
+ &stabilization_cmd[COMMAND_ROLL], \
+ &stabilization_cmd[COMMAND_PITCH], \
+ &stabilization_cmd[COMMAND_YAW]); \
}
@@ -268,18 +268,18 @@
&booz_stab_att_ref_euler.phi, \
&booz_stab_att_ref_euler.theta, \
&booz_stab_att_ref_euler.psi, \
-
&booz_stabilization_att_sum_err.phi, \
-
&booz_stabilization_att_sum_err.theta, \
-
&booz_stabilization_att_sum_err.psi, \
-
&booz_stabilization_att_fb_cmd[COMMAND_ROLL], \
-
&booz_stabilization_att_fb_cmd[COMMAND_PITCH], \
-
&booz_stabilization_att_fb_cmd[COMMAND_YAW], \
-
&booz_stabilization_att_ff_cmd[COMMAND_ROLL], \
-
&booz_stabilization_att_ff_cmd[COMMAND_PITCH], \
-
&booz_stabilization_att_ff_cmd[COMMAND_YAW], \
-
&booz_stabilization_cmd[COMMAND_ROLL], \
-
&booz_stabilization_cmd[COMMAND_PITCH], \
-
&booz_stabilization_cmd[COMMAND_YAW]); \
+ &stabilization_att_sum_err.phi, \
+ &stabilization_att_sum_err.theta, \
+ &stabilization_att_sum_err.psi, \
+
&stabilization_att_fb_cmd[COMMAND_ROLL], \
+
&stabilization_att_fb_cmd[COMMAND_PITCH], \
+
&stabilization_att_fb_cmd[COMMAND_YAW], \
+
&stabilization_att_ff_cmd[COMMAND_ROLL], \
+
&stabilization_att_ff_cmd[COMMAND_PITCH], \
+
&stabilization_att_ff_cmd[COMMAND_YAW], \
+ &stabilization_cmd[COMMAND_ROLL], \
+ &stabilization_cmd[COMMAND_PITCH], \
+ &stabilization_cmd[COMMAND_YAW]); \
}
#define PERIODIC_SEND_BOOZ2_STAB_ATTITUDE_REF(_chan) { \
@@ -317,10 +317,10 @@
#define PERIODIC_SEND_BOOZ2_CMD(_chan) { \
DOWNLINK_SEND_BOOZ2_CMD(_chan, \
- &booz_stabilization_cmd[COMMAND_ROLL], \
- &booz_stabilization_cmd[COMMAND_PITCH], \
- &booz_stabilization_cmd[COMMAND_YAW], \
- &booz_stabilization_cmd[COMMAND_THRUST]); \
+ &stabilization_cmd[COMMAND_ROLL], \
+ &stabilization_cmd[COMMAND_PITCH], \
+ &stabilization_cmd[COMMAND_YAW], \
+ &stabilization_cmd[COMMAND_THRUST]); \
}
@@ -677,7 +677,7 @@
&guidance_h_pos_sp.x, \
&carrot_up, \
&guidance_h_command_body.psi, \
- &booz_stabilization_cmd[COMMAND_THRUST], \
+ &stabilization_cmd[COMMAND_THRUST], \
&autopilot_flight_time); \
}
@@ -748,10 +748,10 @@
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
- &booz_stabilization_cmd[COMMAND_ROLL], \
- &booz_stabilization_cmd[COMMAND_PITCH], \
- &booz_stabilization_cmd[COMMAND_YAW], \
- &booz_stabilization_cmd[COMMAND_THRUST], \
+ &stabilization_cmd[COMMAND_ROLL], \
+ &stabilization_cmd[COMMAND_PITCH], \
+ &stabilization_cmd[COMMAND_YAW], \
+ &stabilization_cmd[COMMAND_THRUST], \
&ahrs.ltp_to_imu_euler.phi, \
&ahrs.ltp_to_imu_euler.theta, \
&ahrs.ltp_to_imu_euler.psi, \
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -27,8 +27,8 @@
#include "commands.h"
#include "mercury_xsens.h"
#include <firmwares/rotorcraft/autopilot.h>
-#include "booz_stabilization.h"
-#include "stabilization/booz_stabilization_attitude.h"
+#include <firmwares/rotorcraft/stabilization.h>
+#include <firmwares/rotorcraft/stabilization/stabilization_attitude.h>
#include "led.h"
#include "math/pprz_algebra_float.h"
#include "string.h"
@@ -148,14 +148,14 @@
if(kill) booz2_autopilot_motors_on = FALSE;
booz2_autopilot_in_flight = _in_flight;
- booz_stabilization_attitude_read_rc(booz2_autopilot_in_flight);
- booz_stabilization_attitude_run(booz2_autopilot_in_flight);
+ stabilization_attitude_read_rc(booz2_autopilot_in_flight);
+ stabilization_attitude_run(booz2_autopilot_in_flight);
booz2_guidance_v_run(booz2_autopilot_in_flight);
- booz_stabilization_cmd[COMMAND_THRUST] =
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE] * 105 / 7200 + 95;
+ stabilization_cmd[COMMAND_THRUST] =
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE] * 105 / 7200 + 95;
- CscSetCommands(booz_stabilization_cmd,
+ CscSetCommands(stabilization_cmd,
booz2_autopilot_in_flight,booz2_autopilot_motors_on);
@@ -163,9 +163,9 @@
if(booz2_autopilot_motors_on && props_throttle_pass){
- Bound(booz_stabilization_cmd[COMMAND_THRUST],0,255);
+ Bound(stabilization_cmd[COMMAND_THRUST],0,255);
for(uint8_t i = 0; i < PROPS_NB; i++)
- mixed_commands[i] = booz_stabilization_cmd[COMMAND_THRUST];
+ mixed_commands[i] = stabilization_cmd[COMMAND_THRUST];
}
@@ -180,7 +180,7 @@
MERCURY_SURFACES_SUPERVISION_RUN(Actuator,
- booz_stabilization_cmd,
+ stabilization_cmd,
mixed_commands,
(!booz2_autopilot_in_flight));
ActuatorsCommit();
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-09-28 15:47:28 UTC
(rev 6015)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-09-28 15:47:38 UTC
(rev 6016)
@@ -53,7 +53,7 @@
#include "csc_baro.h"
#include "booz_radio_control.h"
-#include "booz/stabilization/booz_stabilization_attitude.h"
+#include "booz/stabilization/stabilization_attitude.h"
extern uint8_t vsupply;
@@ -119,7 +119,7 @@
xsens_init();
- booz_stabilization_attitude_init();
+ stabilization_attitude_init();
booz2_guidance_v_init();
booz_ins_init();
@@ -138,7 +138,7 @@
csc_ap_init();
int_enable();
- booz_stabilization_attitude_enter();
+ stabilization_attitude_enter();
}
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -28,7 +28,7 @@
#include "booz2_commands.h"
#include "booz2_navigation.h"
#include <firmwares/rotorcraft/guidance.h>
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include "led.h"
uint8_t autopilot_mode;
@@ -89,7 +89,7 @@
else {
guidance_v_run( autopilot_in_flight );
guidance_h_run( autopilot_in_flight );
- SetCommands(booz_stabilization_cmd,
+ SetCommands(stabilization_cmd,
autopilot_in_flight, autopilot_motors_on);
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -26,7 +26,7 @@
#include <firmwares/rotorcraft/guidance/guidance_h.h>
#include <firmwares/rotorcraft/ahrs.h>
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include "booz_fms.h"
#include <firmwares/rotorcraft/ins.h>
#include "booz2_navigation.h"
@@ -101,7 +101,7 @@
switch ( guidance_h_mode ) {
// case GUIDANCE_H_MODE_RATE:
- // booz_stabilization_rate_exit();
+ // stabilization_rate_exit();
// break;
default:
break;
@@ -110,11 +110,11 @@
switch (new_mode) {
case GUIDANCE_H_MODE_RATE:
- booz_stabilization_rate_enter();
+ stabilization_rate_enter();
break;
case GUIDANCE_H_MODE_ATTITUDE:
- booz_stabilization_attitude_enter();
+ stabilization_attitude_enter();
break;
case GUIDANCE_H_MODE_HOVER:
@@ -138,20 +138,20 @@
switch ( guidance_h_mode ) {
case GUIDANCE_H_MODE_RATE:
- booz_stabilization_rate_read_rc();
+ stabilization_rate_read_rc();
break;
case GUIDANCE_H_MODE_ATTITUDE:
- booz_stabilization_attitude_read_rc(in_flight);
+ stabilization_attitude_read_rc(in_flight);
break;
case GUIDANCE_H_MODE_HOVER:
- BOOZ_STABILIZATION_ATTITUDE_READ_RC(guidance_h_rc_sp, in_flight);
+ STABILIZATION_ATTITUDE_READ_RC(guidance_h_rc_sp, in_flight);
break;
case GUIDANCE_H_MODE_NAV:
if (radio_control.status == RADIO_CONTROL_OK) {
- BOOZ_STABILIZATION_ATTITUDE_READ_RC(guidance_h_rc_sp, in_flight);
+ STABILIZATION_ATTITUDE_READ_RC(guidance_h_rc_sp, in_flight);
guidance_h_rc_sp.psi = 0;
}
else {
@@ -169,16 +169,16 @@
switch ( guidance_h_mode ) {
case GUIDANCE_H_MODE_RATE:
- booz_stabilization_rate_run(in_flight);
+ stabilization_rate_run(in_flight);
break;
case GUIDANCE_H_MODE_ATTITUDE:
- booz_stabilization_attitude_run(in_flight);
+ stabilization_attitude_run(in_flight);
break;
case GUIDANCE_H_MODE_HOVER:
guidance_h_hover_run();
- booz_stabilization_attitude_run(in_flight);
+ stabilization_attitude_run(in_flight);
break;
case GUIDANCE_H_MODE_NAV:
@@ -202,7 +202,7 @@
//guidance_h_hover_run();
guidance_h_nav_run(in_flight);
}
- booz_stabilization_attitude_run(in_flight);
+ stabilization_attitude_run(in_flight);
break;
}
default:
@@ -372,7 +372,7 @@
VECT2_COPY(guidance_h_pos_sp, ins_ltp_pos);
- BOOZ_STABILIZATION_ATTITUDE_RESET_PSI_REF( guidance_h_rc_sp );
+ STABILIZATION_ATTITUDE_RESET_PSI_REF( guidance_h_rc_sp );
INT_VECT2_ZERO(guidance_h_pos_err_sum);
@@ -388,7 +388,7 @@
GuidanceHSetRef(pos, speed, zero);
struct Int32Eulers tmp_sp;
- BOOZ_STABILIZATION_ATTITUDE_RESET_PSI_REF( tmp_sp );
+ STABILIZATION_ATTITUDE_RESET_PSI_REF( tmp_sp );
guidance_h_psi_sp = tmp_sp.psi;
#ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
nav_heading = (guidance_h_psi_sp >> (REF_ANGLE_FRAC - INT32_ANGLE_FRAC));
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -27,7 +27,7 @@
#include "booz_radio_control.h"
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "booz_fms.h"
#include "booz2_navigation.h"
@@ -149,7 +149,7 @@
// AKA SUPERVISION and co
if (in_flight) {
// we should use something after the supervision!!! fuck!!!
- int32_t cmd_hack = Chop(booz_stabilization_cmd[COMMAND_THRUST], 1, 200);
+ int32_t cmd_hack = Chop(stabilization_cmd[COMMAND_THRUST], 1, 200);
gv_adapt_run(ins_ltp_accel.z, cmd_hack);
}
else {
@@ -162,14 +162,14 @@
case GUIDANCE_V_MODE_RC_DIRECT:
guidance_v_z_sp = ins_ltp_pos.z; // not sure why we do that
GuidanceVSetRef(ins_ltp_pos.z, 0, 0); // or that - mode enter should take
care of it ?
- booz_stabilization_cmd[COMMAND_THRUST] = guidance_v_rc_delta_t;
+ stabilization_cmd[COMMAND_THRUST] = guidance_v_rc_delta_t;
break;
case GUIDANCE_V_MODE_RC_CLIMB:
guidance_v_zd_sp = guidance_v_rc_zd_sp;
gv_update_ref_from_zd_sp(guidance_v_zd_sp);
run_hover_loop(in_flight);
- booz_stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+ stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
break;
case GUIDANCE_V_MODE_CLIMB:
@@ -180,7 +180,7 @@
gv_update_ref_from_zd_sp(guidance_v_zd_sp);
run_hover_loop(in_flight);
// saturate max authority with RC stick
- booz_stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
+ stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
break;
case GUIDANCE_V_MODE_HOVER:
@@ -191,7 +191,7 @@
gv_update_ref_from_z_sp(guidance_v_z_sp);
run_hover_loop(in_flight);
// saturate max authority with RC stick
- booz_stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
+ stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
break;
case GUIDANCE_V_MODE_NAV:
@@ -213,9 +213,9 @@
}
/* use rc limitation if available */
if (radio_control.status == RADIO_CONTROL_OK)
- booz_stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
+ stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t,
guidance_v_delta_t);
else
- booz_stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+ stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
break;
}
default:
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
15:47:38 UTC (rev 6016)
@@ -49,7 +49,7 @@
#include "booz_fms.h"
#include <firmwares/rotorcraft/autopilot.h>
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/guidance.h>
#include <firmwares/rotorcraft/ahrs.h>
@@ -117,7 +117,7 @@
booz2_nav_init();
guidance_h_init();
guidance_v_init();
- booz_stabilization_init();
+ stabilization_init();
ahrs_aligner_init();
ahrs_init();
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,7 +1,6 @@
-
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -19,29 +18,29 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_H
-#define BOOZ_STABILIZATION_ATTITUDE_H
+#ifndef STABILIZATION_ATTITUDE_H
+#define STABILIZATION_ATTITUDE_H
#include STABILISATION_ATTITUDE_H
-extern void booz_stabilization_attitude_init(void);
-extern void booz_stabilization_attitude_read_rc(bool_t in_flight);
-extern void booz_stabilization_attitude_read_beta_vane(float beta);
-extern void booz_stabilization_attitude_read_alpha_vane(float alpha);
-extern void booz_stabilization_attitude_enter(void);
-extern void booz_stabilization_attitude_run(bool_t in_flight);
+extern void stabilization_attitude_init(void);
+extern void stabilization_attitude_read_rc(bool_t in_flight);
+extern void stabilization_attitude_read_beta_vane(float beta);
+extern void stabilization_attitude_read_alpha_vane(float alpha);
+extern void stabilization_attitude_enter(void);
+extern void stabilization_attitude_run(bool_t in_flight);
-#include "stabilization/booz_stabilization_attitude_ref.h"
+#include "stabilization/stabilization_attitude_ref.h"
#include STABILISATION_ATTITUDE_REF_H
-extern void booz_stabilization_attitude_ref_init(void);
-extern void booz_stabilization_attitude_ref_update(void);
+extern void stabilization_attitude_ref_init(void);
+extern void stabilization_attitude_ref_update(void);
-#define booz_stabilization_attitude_SetKiPhi(_val) { \
- booz_stabilization_gains.i.x = _val; \
- booz_stabilization_att_sum_err.phi = 0; \
+#define stabilization_attitude_SetKiPhi(_val) { \
+ stabilization_gains.i.x = _val; \
+ stabilization_att_sum_err.phi = 0; \
}
#endif /* BOOZ2_STABILIZATION_ATTITUDE_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude_euler.c 3795 2009-07-24 23:43:02Z poine $
- *
+ * $Id: stabilization_attitude_euler.c 3795 2009-07-24 23:43:02Z poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,10 +18,10 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include "math/pprz_algebra_float.h"
#include <firmwares/rotorcraft/ahrs.h>
@@ -30,70 +30,70 @@
#include "airframe.h"
-struct FloatAttitudeGains booz_stabilization_gains;
-struct FloatEulers booz_stabilization_att_sum_err;
+struct FloatAttitudeGains stabilization_gains;
+struct FloatEulers stabilization_att_sum_err;
-float booz_stabilization_att_fb_cmd[COMMANDS_NB];
-float booz_stabilization_att_ff_cmd[COMMANDS_NB];
+float stabilization_att_fb_cmd[COMMANDS_NB];
+float stabilization_att_ff_cmd[COMMANDS_NB];
-void booz_stabilization_attitude_init(void) {
+void stabilization_attitude_init(void) {
- booz_stabilization_attitude_ref_init();
+ stabilization_attitude_ref_init();
- VECT3_ASSIGN(booz_stabilization_gains.p,
- BOOZ_STABILIZATION_ATTITUDE_PHI_PGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_PGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_PGAIN);
-
- VECT3_ASSIGN(booz_stabilization_gains.d,
- BOOZ_STABILIZATION_ATTITUDE_PHI_DGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_DGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN);
-
- VECT3_ASSIGN(booz_stabilization_gains.i,
- BOOZ_STABILIZATION_ATTITUDE_PHI_IGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_IGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_IGAIN);
+ VECT3_ASSIGN(stabilization_gains.p,
+ STABILIZATION_ATTITUDE_PHI_PGAIN,
+ STABILIZATION_ATTITUDE_THETA_PGAIN,
+ STABILIZATION_ATTITUDE_PSI_PGAIN);
- VECT3_ASSIGN(booz_stabilization_gains.dd,
- BOOZ_STABILIZATION_ATTITUDE_PHI_DDGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_DDGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_DDGAIN);
+ VECT3_ASSIGN(stabilization_gains.d,
+ STABILIZATION_ATTITUDE_PHI_DGAIN,
+ STABILIZATION_ATTITUDE_THETA_DGAIN,
+ STABILIZATION_ATTITUDE_PSI_DGAIN);
- FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err );
+ 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 );
+
}
-void booz_stabilization_attitude_read_rc(bool_t in_flight) {
+void stabilization_attitude_read_rc(bool_t in_flight) {
- BOOZ_STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
+ STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
}
-void booz_stabilization_attitude_enter(void) {
+void stabilization_attitude_enter(void) {
- BOOZ_STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
- FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err );
-
+ STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
+ FLOAT_EULERS_ZERO( stabilization_att_sum_err );
+
}
#define MAX_SUM_ERR RadOfDeg(56000)
-void booz_stabilization_attitude_run(bool_t in_flight) {
+void stabilization_attitude_run(bool_t in_flight) {
- booz_stabilization_attitude_ref_update();
+ stabilization_attitude_ref_update();
/* Compute feedforward */
- booz_stabilization_att_ff_cmd[COMMAND_ROLL] =
- booz_stabilization_gains.dd.x * booz_stab_att_ref_accel.p / 32.;
- booz_stabilization_att_ff_cmd[COMMAND_PITCH] =
- booz_stabilization_gains.dd.y * booz_stab_att_ref_accel.q / 32.;
- booz_stabilization_att_ff_cmd[COMMAND_YAW] =
- booz_stabilization_gains.dd.z * booz_stab_att_ref_accel.r / 32.;
+ stabilization_att_ff_cmd[COMMAND_ROLL] =
+ stabilization_gains.dd.x * booz_stab_att_ref_accel.p / 32.;
+ stabilization_att_ff_cmd[COMMAND_PITCH] =
+ stabilization_gains.dd.y * booz_stab_att_ref_accel.q / 32.;
+ stabilization_att_ff_cmd[COMMAND_YAW] =
+ stabilization_gains.dd.z * booz_stab_att_ref_accel.r / 32.;
/* Compute feedback */
/* attitude error */
@@ -105,13 +105,13 @@
if (in_flight) {
/* update integrator */
- EULERS_ADD(booz_stabilization_att_sum_err, att_err);
- EULERS_BOUND_CUBE(booz_stabilization_att_sum_err, -MAX_SUM_ERR,
MAX_SUM_ERR);
+ 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(booz_stabilization_att_sum_err);
+ FLOAT_EULERS_ZERO(stabilization_att_sum_err);
}
-
+
/* rate error */
struct FloatRates rate_float;
RATES_FLOAT_OF_BFP(rate_float, ahrs.body_rate);
@@ -120,29 +120,27 @@
/* PID */
- booz_stabilization_att_fb_cmd[COMMAND_ROLL] =
- booz_stabilization_gains.p.x * att_err.phi +
- booz_stabilization_gains.d.x * rate_err.p +
- booz_stabilization_gains.i.x * booz_stabilization_att_sum_err.phi / 1024.;
+ 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.;
- booz_stabilization_att_fb_cmd[COMMAND_PITCH] =
- booz_stabilization_gains.p.y * att_err.theta +
- booz_stabilization_gains.d.y * rate_err.q +
- booz_stabilization_gains.i.y * booz_stabilization_att_sum_err.theta /
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.;
- booz_stabilization_att_fb_cmd[COMMAND_YAW] =
- booz_stabilization_gains.p.z * att_err.psi +
- booz_stabilization_gains.d.z * rate_err.r +
- booz_stabilization_gains.i.z * booz_stabilization_att_sum_err.psi / 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.;
- booz_stabilization_cmd[COMMAND_ROLL] =
-
(booz_stabilization_att_fb_cmd[COMMAND_ROLL]+booz_stabilization_att_ff_cmd[COMMAND_ROLL])/16.;
- booz_stabilization_cmd[COMMAND_PITCH] =
-
(booz_stabilization_att_fb_cmd[COMMAND_PITCH]+booz_stabilization_att_ff_cmd[COMMAND_PITCH])/16.;
- booz_stabilization_cmd[COMMAND_YAW] =
-
(booz_stabilization_att_fb_cmd[COMMAND_YAW]+booz_stabilization_att_ff_cmd[COMMAND_YAW])/16.;
-
-}
+ 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.;
-
+}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,10 +18,10 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "booz_radio_control.h"
@@ -29,77 +29,77 @@
#include "airframe.h"
-struct Int32AttitudeGains booz_stabilization_gains;
+struct Int32AttitudeGains stabilization_gains;
-struct Int32Eulers booz_stabilization_att_sum_err;
+struct Int32Eulers stabilization_att_sum_err;
-int32_t booz_stabilization_att_fb_cmd[COMMANDS_NB];
-int32_t booz_stabilization_att_ff_cmd[COMMANDS_NB];
+int32_t stabilization_att_fb_cmd[COMMANDS_NB];
+int32_t stabilization_att_ff_cmd[COMMANDS_NB];
-void booz_stabilization_attitude_init(void) {
+void stabilization_attitude_init(void) {
- booz_stabilization_attitude_ref_init();
-
-
- VECT3_ASSIGN(booz_stabilization_gains.p,
- BOOZ_STABILIZATION_ATTITUDE_PHI_PGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_PGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_PGAIN);
-
- VECT3_ASSIGN(booz_stabilization_gains.d,
- BOOZ_STABILIZATION_ATTITUDE_PHI_DGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_DGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN);
-
- VECT3_ASSIGN(booz_stabilization_gains.i,
- BOOZ_STABILIZATION_ATTITUDE_PHI_IGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_IGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_IGAIN);
+ stabilization_attitude_ref_init();
- VECT3_ASSIGN(booz_stabilization_gains.dd,
- BOOZ_STABILIZATION_ATTITUDE_PHI_DDGAIN,
- BOOZ_STABILIZATION_ATTITUDE_THETA_DDGAIN,
- BOOZ_STABILIZATION_ATTITUDE_PSI_DDGAIN);
-
- INT_EULERS_ZERO( booz_stabilization_att_sum_err );
+ 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 );
+
}
-void booz_stabilization_attitude_read_rc(bool_t in_flight) {
+void stabilization_attitude_read_rc(bool_t in_flight) {
- BOOZ_STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
+ STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
}
-void booz_stabilization_attitude_enter(void) {
+void stabilization_attitude_enter(void) {
- BOOZ_STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
- INT_EULERS_ZERO( booz_stabilization_att_sum_err );
-
+ STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
+ INT_EULERS_ZERO( stabilization_att_sum_err );
+
}
-#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
+#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
#define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
#define MAX_SUM_ERR 4000000
-void booz_stabilization_attitude_run(bool_t in_flight) {
+void stabilization_attitude_run(bool_t in_flight) {
/* update reference */
- booz_stabilization_attitude_ref_update();
+ stabilization_attitude_ref_update();
/* compute feedforward command */
- booz_stabilization_att_ff_cmd[COMMAND_ROLL] =
- OFFSET_AND_ROUND(booz_stabilization_gains.dd.x *
booz_stab_att_ref_accel.p, 5);
- booz_stabilization_att_ff_cmd[COMMAND_PITCH] =
- OFFSET_AND_ROUND(booz_stabilization_gains.dd.y *
booz_stab_att_ref_accel.q, 5);
- booz_stabilization_att_ff_cmd[COMMAND_YAW] =
- OFFSET_AND_ROUND(booz_stabilization_gains.dd.z *
booz_stab_att_ref_accel.r, 5);
+ stabilization_att_ff_cmd[COMMAND_ROLL] =
+ OFFSET_AND_ROUND(stabilization_gains.dd.x * booz_stab_att_ref_accel.p, 5);
+ stabilization_att_ff_cmd[COMMAND_PITCH] =
+ OFFSET_AND_ROUND(stabilization_gains.dd.y * booz_stab_att_ref_accel.q, 5);
+ stabilization_att_ff_cmd[COMMAND_YAW] =
+ OFFSET_AND_ROUND(stabilization_gains.dd.z * booz_stab_att_ref_accel.r, 5);
/* compute feedback command */
/* attitude error */
@@ -113,13 +113,13 @@
if (in_flight) {
/* update integrator */
- EULERS_ADD(booz_stabilization_att_sum_err, att_err);
- EULERS_BOUND_CUBE(booz_stabilization_att_sum_err, -MAX_SUM_ERR,
MAX_SUM_ERR);
+ 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(booz_stabilization_att_sum_err);
+ INT_EULERS_ZERO(stabilization_att_sum_err);
}
-
+
/* rate error */
const struct Int32Rates rate_ref_scaled = {
OFFSET_AND_ROUND(booz_stab_att_ref_rate.p, (REF_RATE_FRAC -
INT32_RATE_FRAC)),
@@ -129,31 +129,29 @@
RATES_DIFF(rate_err, ahrs.body_rate, rate_ref_scaled);
/* PID */
- booz_stabilization_att_fb_cmd[COMMAND_ROLL] =
- booz_stabilization_gains.p.x * att_err.phi +
- booz_stabilization_gains.d.x * rate_err.p +
- OFFSET_AND_ROUND2((booz_stabilization_gains.i.x *
booz_stabilization_att_sum_err.phi), 10);
+ 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);
- booz_stabilization_att_fb_cmd[COMMAND_PITCH] =
- booz_stabilization_gains.p.y * att_err.theta +
- booz_stabilization_gains.d.y * rate_err.q +
- OFFSET_AND_ROUND2((booz_stabilization_gains.i.y *
booz_stabilization_att_sum_err.theta), 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);
- booz_stabilization_att_fb_cmd[COMMAND_YAW] =
- booz_stabilization_gains.p.z * att_err.psi +
- booz_stabilization_gains.d.z * rate_err.r +
- OFFSET_AND_ROUND2((booz_stabilization_gains.i.z *
booz_stabilization_att_sum_err.psi), 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);
+
/* sum feedforward and feedback */
- booz_stabilization_cmd[COMMAND_ROLL] =
-
OFFSET_AND_ROUND((booz_stabilization_att_fb_cmd[COMMAND_ROLL]+booz_stabilization_att_ff_cmd[COMMAND_ROLL]),
16);
-
- booz_stabilization_cmd[COMMAND_PITCH] =
-
OFFSET_AND_ROUND((booz_stabilization_att_fb_cmd[COMMAND_PITCH]+booz_stabilization_att_ff_cmd[COMMAND_PITCH]),
16);
-
- booz_stabilization_cmd[COMMAND_YAW] =
-
OFFSET_AND_ROUND((booz_stabilization_att_fb_cmd[COMMAND_YAW]+booz_stabilization_att_ff_cmd[COMMAND_YAW]),
16);
-
-}
+ stabilization_cmd[COMMAND_ROLL] =
+
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]),
16);
+ stabilization_cmd[COMMAND_PITCH] =
+
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]),
16);
+ stabilization_cmd[COMMAND_YAW] =
+
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]),
16);
+
+}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
- *
+ * $Id: stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,35 +18,34 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_FLOAT_H
-#define BOOZ_STABILIZATION_ATTITUDE_FLOAT_H
+#ifndef STABILIZATION_ATTITUDE_FLOAT_H
+#define STABILIZATION_ATTITUDE_FLOAT_H
#include "math/pprz_algebra_float.h"
#include "airframe.h"
struct FloatAttitudeGains {
- struct FloatVect3 p;
- struct FloatVect3 d;
- struct FloatVect3 dd;
- struct FloatVect3 rates_d;
- struct FloatVect3 i;
- struct FloatVect3 surface_p;
- struct FloatVect3 surface_d;
- struct FloatVect3 surface_dd;
- struct FloatVect3 surface_i;
+ struct FloatVect3 p;
+ struct FloatVect3 d;
+ struct FloatVect3 dd;
+ struct FloatVect3 rates_d;
+ struct FloatVect3 i;
+ struct FloatVect3 surface_p;
+ struct FloatVect3 surface_d;
+ struct FloatVect3 surface_dd;
+ struct FloatVect3 surface_i;
};
-extern struct FloatAttitudeGains booz_stabilization_gains[];
-extern struct FloatEulers booz_stabilization_att_sum_err_eulers;
+extern struct FloatAttitudeGains stabilization_gains[];
+extern struct FloatEulers stabilization_att_sum_err_eulers;
-extern float booz_stabilization_att_fb_cmd[COMMANDS_NB];
-extern float booz_stabilization_att_ff_cmd[COMMANDS_NB];
+extern float stabilization_att_fb_cmd[COMMANDS_NB];
+extern float stabilization_att_ff_cmd[COMMANDS_NB];
-void booz_stabilization_attitude_gain_schedule(uint8_t idx);
+void stabilization_attitude_gain_schedule(uint8_t idx);
-#endif /* BOOZ_STABILIZATION_ATTITUDE_FLOAT_H */
-
+#endif /* STABILIZATION_ATTITUDE_FLOAT_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
- *
+ * $Id: stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,28 +18,27 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_INT_H
-#define BOOZ_STABILIZATION_ATTITUDE_INT_H
+#ifndef STABILIZATION_ATTITUDE_INT_H
+#define STABILIZATION_ATTITUDE_INT_H
#include "math/pprz_algebra_int.h"
#include "airframe.h"
struct Int32AttitudeGains {
- struct Int32Vect3 p;
- struct Int32Vect3 d;
- struct Int32Vect3 dd;
- struct Int32Vect3 i;
+ struct Int32Vect3 p;
+ struct Int32Vect3 d;
+ struct Int32Vect3 dd;
+ struct Int32Vect3 i;
};
-extern struct Int32AttitudeGains booz_stabilization_gains;
-extern struct Int32Eulers booz_stabilization_att_sum_err;
+extern struct Int32AttitudeGains stabilization_gains;
+extern struct Int32Eulers stabilization_att_sum_err;
-extern int32_t booz_stabilization_att_fb_cmd[COMMANDS_NB];
-extern int32_t booz_stabilization_att_ff_cmd[COMMANDS_NB];
+extern int32_t stabilization_att_fb_cmd[COMMANDS_NB];
+extern int32_t stabilization_att_ff_cmd[COMMANDS_NB];
-#endif /* BOOZ_STABILIZATION_ATTITUDE_INT_H */
-
+#endif /* STABILIZATION_ATTITUDE_INT_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude_quat_float.c 3787 2009-07-24 15:33:54Z
poine $
- *
+ * $Id: stabilization_attitude_quat_float.c 3787 2009-07-24 15:33:54Z poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,14 +18,14 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-/** \file booz_stabilization_attitude_quat_float.c
+/** \file stabilization_attitude_quat_float.c
* \brief Booz quaternion attitude stabilization
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <stdio.h>
#include "math/pprz_algebra_float.h"
@@ -33,90 +33,90 @@
#include <firmwares/rotorcraft/ahrs.h>
#include "airframe.h"
-struct FloatAttitudeGains
booz_stabilization_gains[BOOZ_STABILIZATION_ATTITUDE_GAIN_NB];
+struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_GAIN_NB];
-struct FloatQuat booz_stabilization_att_sum_err_quat;
-struct FloatEulers booz_stabilization_att_sum_err_eulers;
+struct FloatQuat stabilization_att_sum_err_quat;
+struct FloatEulers stabilization_att_sum_err_eulers;
-float booz_stabilization_att_fb_cmd[COMMANDS_NB];
-float booz_stabilization_att_ff_cmd[COMMANDS_NB];
+float stabilization_att_fb_cmd[COMMANDS_NB];
+float stabilization_att_ff_cmd[COMMANDS_NB];
-static int gain_idx = BOOZ_STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
+static int gain_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
-static const float phi_pgain[] = BOOZ_STABILIZATION_ATTITUDE_PHI_PGAIN;
-static const float theta_pgain[] = BOOZ_STABILIZATION_ATTITUDE_THETA_PGAIN;
-static const float psi_pgain[] = BOOZ_STABILIZATION_ATTITUDE_PSI_PGAIN;
+static const float phi_pgain[] = STABILIZATION_ATTITUDE_PHI_PGAIN;
+static const float theta_pgain[] = STABILIZATION_ATTITUDE_THETA_PGAIN;
+static const float psi_pgain[] = STABILIZATION_ATTITUDE_PSI_PGAIN;
-static const float phi_dgain[] = BOOZ_STABILIZATION_ATTITUDE_PHI_DGAIN;
-static const float theta_dgain[] = BOOZ_STABILIZATION_ATTITUDE_THETA_DGAIN;
-static const float psi_dgain[] = BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN;
+static const float phi_dgain[] = STABILIZATION_ATTITUDE_PHI_DGAIN;
+static const float theta_dgain[] = STABILIZATION_ATTITUDE_THETA_DGAIN;
+static const float psi_dgain[] = STABILIZATION_ATTITUDE_PSI_DGAIN;
-static const float phi_igain[] = BOOZ_STABILIZATION_ATTITUDE_PHI_IGAIN;
-static const float theta_igain[] = BOOZ_STABILIZATION_ATTITUDE_THETA_IGAIN;
-static const float psi_igain[] = BOOZ_STABILIZATION_ATTITUDE_PSI_IGAIN;
+static const float phi_igain[] = STABILIZATION_ATTITUDE_PHI_IGAIN;
+static const float theta_igain[] = STABILIZATION_ATTITUDE_THETA_IGAIN;
+static const float psi_igain[] = STABILIZATION_ATTITUDE_PSI_IGAIN;
-static const float phi_ddgain[] = BOOZ_STABILIZATION_ATTITUDE_PHI_DDGAIN;
-static const float theta_ddgain[] = BOOZ_STABILIZATION_ATTITUDE_THETA_DDGAIN;
-static const float psi_ddgain[] = BOOZ_STABILIZATION_ATTITUDE_PSI_DDGAIN;
+static const float phi_ddgain[] = STABILIZATION_ATTITUDE_PHI_DDGAIN;
+static const float theta_ddgain[] = STABILIZATION_ATTITUDE_THETA_DDGAIN;
+static const float psi_ddgain[] = STABILIZATION_ATTITUDE_PSI_DDGAIN;
-static const float phi_dgain_d[] = BOOZ_STABILIZATION_ATTITUDE_PHI_DGAIN_D;
-static const float theta_dgain_d[] = BOOZ_STABILIZATION_ATTITUDE_THETA_DGAIN_D;
-static const float psi_dgain_d[] = BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN_D;
+static const float phi_dgain_d[] = STABILIZATION_ATTITUDE_PHI_DGAIN_D;
+static const float theta_dgain_d[] = STABILIZATION_ATTITUDE_THETA_DGAIN_D;
+static const float psi_dgain_d[] = STABILIZATION_ATTITUDE_PSI_DGAIN_D;
-static const float phi_pgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PHI_PGAIN_SURFACE;
-static const float theta_pgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_THETA_PGAIN_SURFACE;
-static const float psi_pgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PSI_PGAIN_SURFACE;
+static const float phi_pgain_surface[] =
STABILIZATION_ATTITUDE_PHI_PGAIN_SURFACE;
+static const float theta_pgain_surface[] =
STABILIZATION_ATTITUDE_THETA_PGAIN_SURFACE;
+static const float psi_pgain_surface[] =
STABILIZATION_ATTITUDE_PSI_PGAIN_SURFACE;
-static const float phi_dgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PHI_DGAIN_SURFACE;
-static const float theta_dgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_THETA_DGAIN_SURFACE;
-static const float psi_dgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PSI_DGAIN_SURFACE;
+static const float phi_dgain_surface[] =
STABILIZATION_ATTITUDE_PHI_DGAIN_SURFACE;
+static const float theta_dgain_surface[] =
STABILIZATION_ATTITUDE_THETA_DGAIN_SURFACE;
+static const float psi_dgain_surface[] =
STABILIZATION_ATTITUDE_PSI_DGAIN_SURFACE;
-static const float phi_igain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PHI_IGAIN_SURFACE;
-static const float theta_igain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_THETA_IGAIN_SURFACE;
-static const float psi_igain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PSI_IGAIN_SURFACE;
+static const float phi_igain_surface[] =
STABILIZATION_ATTITUDE_PHI_IGAIN_SURFACE;
+static const float theta_igain_surface[] =
STABILIZATION_ATTITUDE_THETA_IGAIN_SURFACE;
+static const float psi_igain_surface[] =
STABILIZATION_ATTITUDE_PSI_IGAIN_SURFACE;
-static const float phi_ddgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PHI_DDGAIN_SURFACE;
-static const float theta_ddgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_THETA_DDGAIN_SURFACE;
-static const float psi_ddgain_surface[] =
BOOZ_STABILIZATION_ATTITUDE_PSI_DDGAIN_SURFACE;
+static const float phi_ddgain_surface[] =
STABILIZATION_ATTITUDE_PHI_DDGAIN_SURFACE;
+static const float theta_ddgain_surface[] =
STABILIZATION_ATTITUDE_THETA_DDGAIN_SURFACE;
+static const float psi_ddgain_surface[] =
STABILIZATION_ATTITUDE_PSI_DDGAIN_SURFACE;
#define IERROR_SCALE 1024
-void booz_stabilization_attitude_init(void) {
+void stabilization_attitude_init(void) {
- booz_stabilization_attitude_ref_init();
+ stabilization_attitude_ref_init();
- for (int i = 0; i < BOOZ_STABILIZATION_ATTITUDE_GAIN_NB; i++) {
- VECT3_ASSIGN(booz_stabilization_gains[i].p, phi_pgain[i], theta_pgain[i],
psi_pgain[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].d, phi_dgain[i], theta_dgain[i],
psi_dgain[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].i, phi_igain[i], theta_igain[i],
psi_igain[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].dd, phi_ddgain[i],
theta_ddgain[i], psi_ddgain[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].rates_d, phi_dgain_d[i],
theta_dgain_d[i], psi_dgain_d[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].surface_p, phi_pgain_surface[i],
theta_pgain_surface[i], psi_pgain_surface[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].surface_d, phi_dgain_surface[i],
theta_dgain_surface[i], psi_dgain_surface[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].surface_i, phi_igain_surface[i],
theta_igain_surface[i], psi_igain_surface[i]);
- VECT3_ASSIGN(booz_stabilization_gains[i].surface_dd,
phi_ddgain_surface[i], theta_ddgain_surface[i], psi_ddgain_surface[i]);
+ 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]);
+ 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( booz_stabilization_att_sum_err_quat );
- FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err_eulers );
+ FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
+ FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
-void booz_stabilization_attitude_gain_schedule(uint8_t idx)
+void stabilization_attitude_gain_schedule(uint8_t idx)
{
- if (gain_idx >= BOOZ_STABILIZATION_ATTITUDE_GAIN_NB) {
- // This could be bad -- Just say no.
- return;
- }
- gain_idx = idx;
- booz_stabilization_attitude_ref_schedule(idx);
+ if (gain_idx >= STABILIZATION_ATTITUDE_GAIN_NB) {
+ // This could be bad -- Just say no.
+ return;
+ }
+ gain_idx = idx;
+ stabilization_attitude_ref_schedule(idx);
}
-void booz_stabilization_attitude_enter(void) {
+void stabilization_attitude_enter(void) {
- booz_stabilization_attitude_ref_enter();
-
- FLOAT_QUAT_ZERO( booz_stabilization_att_sum_err_quat );
- FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err_eulers );
+ stabilization_attitude_ref_enter();
+
+ FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
+ FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
static void attitude_run_ff(float ff_commands[], struct FloatAttitudeGains
*gains, struct FloatRates *ref_accel)
@@ -132,60 +132,60 @@
}
static void attitude_run_fb(float fb_commands[], struct FloatAttitudeGains
*gains, struct FloatQuat *att_err,
- struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct
FloatQuat *sum_err)
+ struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct
FloatQuat *sum_err)
{
/* PID feedback */
- fb_commands[COMMAND_ROLL] =
+ fb_commands[COMMAND_ROLL] =
GAIN_PRESCALER_P * -gains->p.x * att_err->qx +
GAIN_PRESCALER_D * gains->d.x * rate_err->p +
GAIN_PRESCALER_D * gains->rates_d.x * rate_err_d->p +
GAIN_PRESCALER_I * gains->i.x * sum_err->qx;
- fb_commands[COMMAND_PITCH] =
- GAIN_PRESCALER_P * -gains->p.y * att_err->qy +
+ fb_commands[COMMAND_PITCH] =
+ GAIN_PRESCALER_P * -gains->p.y * att_err->qy +
GAIN_PRESCALER_D * gains->d.y * rate_err->q +
GAIN_PRESCALER_D * gains->rates_d.y * rate_err_d->q +
GAIN_PRESCALER_I * gains->i.y * sum_err->qy;
-
- fb_commands[COMMAND_YAW] =
+
+ fb_commands[COMMAND_YAW] =
GAIN_PRESCALER_P * -gains->p.z * att_err->qz +
GAIN_PRESCALER_D * gains->d.z * rate_err->r +
GAIN_PRESCALER_D * gains->rates_d.z * rate_err_d->r +
GAIN_PRESCALER_I * gains->i.z * sum_err->qz;
- fb_commands[COMMAND_ROLL_SURFACE] =
+ fb_commands[COMMAND_ROLL_SURFACE] =
GAIN_PRESCALER_P * -gains->surface_p.x * att_err->qx +
GAIN_PRESCALER_D * gains->surface_d.x * rate_err->p +
GAIN_PRESCALER_I * gains->surface_i.x * sum_err->qx;
- fb_commands[COMMAND_PITCH_SURFACE] =
+ fb_commands[COMMAND_PITCH_SURFACE] =
GAIN_PRESCALER_P * -gains->surface_p.y * att_err->qy +
GAIN_PRESCALER_D * gains->surface_d.y * rate_err->q +
GAIN_PRESCALER_I * gains->surface_i.y * sum_err->qy;
- fb_commands[COMMAND_YAW_SURFACE] =
+ fb_commands[COMMAND_YAW_SURFACE] =
GAIN_PRESCALER_P * -gains->surface_p.z * att_err->qz +
GAIN_PRESCALER_D * gains->surface_d.z * rate_err->r +
GAIN_PRESCALER_I * gains->surface_i.z * sum_err->qz;
}
-void booz_stabilization_attitude_run(bool_t enable_integrator) {
-
- /*
+void stabilization_attitude_run(bool_t enable_integrator) {
+
+ /*
* Update reference
*/
- booz_stabilization_attitude_ref_update();
+ stabilization_attitude_ref_update();
/*
- * Compute errors for feedback
+ * Compute errors for feedback
*/
/* attitude error */
- struct FloatQuat att_err;
+ struct FloatQuat att_err;
FLOAT_QUAT_INV_COMP(att_err, ahrs_float.ltp_to_body_quat,
booz_stab_att_ref_quat);
/* wrap it in the shortest direction */
- FLOAT_QUAT_WRAP_SHORTEST(att_err);
+ FLOAT_QUAT_WRAP_SHORTEST(att_err);
/* rate error */
struct FloatRates rate_err;
@@ -199,21 +199,21 @@
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
- FLOAT_QUAT_COMP_INV(new_sum_err, booz_stabilization_att_sum_err_quat,
scaled_att_err);
+ FLOAT_QUAT_COMP_INV(new_sum_err, stabilization_att_sum_err_quat,
scaled_att_err);
FLOAT_QUAT_NORMALISE(new_sum_err);
- FLOAT_QUAT_COPY(booz_stabilization_att_sum_err_quat, new_sum_err);
- FLOAT_EULERS_OF_QUAT(booz_stabilization_att_sum_err_eulers,
booz_stabilization_att_sum_err_quat);
+ FLOAT_QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
+ FLOAT_EULERS_OF_QUAT(stabilization_att_sum_err_eulers,
stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
- FLOAT_QUAT_ZERO( booz_stabilization_att_sum_err_quat );
- FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err_eulers );
+ FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
+ FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
- attitude_run_ff(booz_stabilization_att_ff_cmd,
&booz_stabilization_gains[gain_idx], &booz_stab_att_ref_accel);
+ attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx],
&booz_stab_att_ref_accel);
- attitude_run_fb(booz_stabilization_att_fb_cmd,
&booz_stabilization_gains[gain_idx], &att_err, &rate_err,
&ahrs_float.body_rate_d, &booz_stabilization_att_sum_err_quat);
+ attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains[gain_idx],
&att_err, &rate_err, &ahrs_float.body_rate_d, &stabilization_att_sum_err_quat);
for (int i = COMMAND_ROLL; i <= COMMAND_YAW_SURFACE; i++) {
- booz_stabilization_cmd[i] =
booz_stabilization_att_fb_cmd[i]+booz_stabilization_att_ff_cmd[i];
+ stabilization_cmd[i] =
stabilization_att_fb_cmd[i]+stabilization_att_ff_cmd[i];
}
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,5 +1,5 @@
-#ifndef BOOZ_STABILIZATION_ATTITUDE_REF_H
-#define BOOZ_STABILIZATION_ATTITUDE_REF_H
+#ifndef STABILIZATION_ATTITUDE_REF_H
+#define STABILIZATION_ATTITUDE_REF_H
#define SATURATE_SPEED_TRIM_ACCEL() { \
if (booz_stab_att_ref_rate.p >= REF_RATE_MAX_P) { \
@@ -34,4 +34,4 @@
} \
}
-#endif /* BOOZ_STABILIZATION_ATTITUDE_REF_H */
+#endif /* STABILIZATION_ATTITUDE_REF_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,4 +1,4 @@
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
struct FloatEulers booz_stab_att_sp_euler;
@@ -6,7 +6,7 @@
struct FloatRates booz_stab_att_ref_rate;
struct FloatRates booz_stab_att_ref_accel;
-void booz_stabilization_attitude_ref_init(void) {
+void stabilization_attitude_ref_init(void) {
FLOAT_EULERS_ZERO(booz_stab_att_sp_euler);
FLOAT_EULERS_ZERO(booz_stab_att_ref_euler);
@@ -21,26 +21,26 @@
*/
#define DT_UPDATE (1./512.)
-#define REF_ACCEL_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT
-#define REF_ACCEL_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT
-#define REF_ACCEL_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT
+#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
+#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
+#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_REF_MAX_RDOT
-#define REF_RATE_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P
-#define REF_RATE_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q
-#define REF_RATE_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R
+#define REF_RATE_MAX_P STABILIZATION_ATTITUDE_REF_MAX_P
+#define REF_RATE_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_Q
+#define REF_RATE_MAX_R STABILIZATION_ATTITUDE_REF_MAX_R
-#define OMEGA_P BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_P
-#define OMEGA_Q BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_Q
-#define OMEGA_R BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_R
+#define OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P
+#define OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q
+#define OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R
-#define ZETA_P BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_P
-#define ZETA_Q BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_Q
-#define ZETA_R BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_R
+#define ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P
+#define ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q
+#define ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R
#define USE_REF 1
-void booz_stabilization_attitude_ref_update() {
+void stabilization_attitude_ref_update() {
#ifdef USE_REF
@@ -77,7 +77,7 @@
SATURATE_SPEED_TRIM_ACCEL();
#else /* !USE_REF */
- EULERS_COPY(booz_stab_att_ref_euler, booz_stabilization_att_sp);
+ EULERS_COPY(booz_stab_att_ref_euler, stabilization_att_sp);
FLOAT_RATES_ZERO(booz_stab_att_ref_rate);
FLOAT_RATES_ZERO(booz_stab_att_ref_accel);
#endif /* USE_REF */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude_ref_traj_euler.h 3796 2009-07-25 00:01:02Z
poine $
- *
+ * $Id: stabilization_attitude_ref_traj_euler.h 3796 2009-07-25 00:01:02Z
poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,24 +18,24 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
-#define BOOZ_STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
+#ifndef STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
+#define STABILIZATION_ATTITUDE_REF_EULER_FLOAT_H
#include "booz_radio_control.h"
#include "math/pprz_algebra_float.h"
-#include "stabilization/booz_stabilization_attitude_ref_float.h"
+#include "stabilization_attitude_ref_float.h"
/*
* Radio Control
*/
-#define SP_MAX_PHI BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI
-#define SP_MAX_THETA BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA
-#define SP_MAX_R BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R
+#define SP_MAX_PHI STABILIZATION_ATTITUDE_SP_MAX_PHI
+#define SP_MAX_THETA STABILIZATION_ATTITUDE_SP_MAX_THETA
+#define SP_MAX_R STABILIZATION_ATTITUDE_SP_MAX_R
@@ -44,20 +44,20 @@
#define RC_UPDATE_FREQ 40.
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
+ radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
-#define BOOZ_STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
- \
+#define STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
+ \
_sp.phi = \
(-radio_control.values[RADIO_CONTROL_ROLL] * SP_MAX_PHI / MAX_PPRZ); \
_sp.theta =
\
( radio_control.values[RADIO_CONTROL_PITCH] * SP_MAX_THETA / MAX_PPRZ); \
if (_inflight) { \
if (YAW_DEADBAND_EXCEEDED()) { \
- _sp.psi += \
- (-radio_control.values[RADIO_CONTROL_YAW] * SP_MAX_R / MAX_PPRZ /
RC_UPDATE_FREQ); \
- FLOAT_ANGLE_NORMALIZE(_sp.psi); \
+ _sp.psi += \
+ (-radio_control.values[RADIO_CONTROL_YAW] * SP_MAX_R / MAX_PPRZ /
RC_UPDATE_FREQ); \
+ FLOAT_ANGLE_NORMALIZE(_sp.psi); \
}
\
} \
else { /* if not flying, use current yaw as setpoint */ \
@@ -65,11 +65,11 @@
} \
}
-#define BOOZ_STABILIZATION_ATTITUDE_ADD_SP(_add_sp) { \
+#define STABILIZATION_ATTITUDE_ADD_SP(_add_sp) { \
struct FloatEulers add_sp_float; \
EULERS_FLOAT_OF_BFP(add_sp_float, (_add_sp)); \
- EULERS_ADD(booz_stabilization_att_sp,add_sp_float); \
- FLOAT_ANGLE_NORMALIZE(booz_stabilization_att_sp.psi); \
+ EULERS_ADD(stabilization_att_sp,add_sp_float); \
+ FLOAT_ANGLE_NORMALIZE(stabilization_att_sp.psi); \
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,5 +1,5 @@
/*
- * $Id: booz_stabilization_attitude_ref_euler_int.h -1 $
+ * $Id: stabilization_attitude_ref_euler_int.h -1 $
*
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
@@ -21,14 +21,14 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
struct Int32Eulers booz_stab_att_sp_euler;
struct Int32Eulers booz_stab_att_ref_euler;
struct Int32Rates booz_stab_att_ref_rate;
struct Int32Rates booz_stab_att_ref_accel;
-void booz_stabilization_attitude_ref_init(void) {
+void stabilization_attitude_ref_init(void) {
INT_EULERS_ZERO(booz_stab_att_sp_euler);
INT_EULERS_ZERO(booz_stab_att_ref_euler);
@@ -40,30 +40,30 @@
#define F_UPDATE_RES 9
#define F_UPDATE (1<<F_UPDATE_RES)
-#define REF_ACCEL_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT,
REF_ACCEL_FRAC)
-#define REF_ACCEL_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT,
REF_ACCEL_FRAC)
-#define REF_ACCEL_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT,
REF_ACCEL_FRAC)
+#define REF_ACCEL_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_PDOT,
REF_ACCEL_FRAC)
+#define REF_ACCEL_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_QDOT,
REF_ACCEL_FRAC)
+#define REF_ACCEL_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_RDOT,
REF_ACCEL_FRAC)
-#define REF_RATE_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P,
REF_RATE_FRAC)
-#define REF_RATE_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q,
REF_RATE_FRAC)
-#define REF_RATE_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R,
REF_RATE_FRAC)
+#define REF_RATE_MAX_P BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_P,
REF_RATE_FRAC)
+#define REF_RATE_MAX_Q BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_Q,
REF_RATE_FRAC)
+#define REF_RATE_MAX_R BFP_OF_REAL(STABILIZATION_ATTITUDE_REF_MAX_R,
REF_RATE_FRAC)
-#define OMEGA_P BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_P
-#define ZETA_P BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_P
+#define OMEGA_P STABILIZATION_ATTITUDE_REF_OMEGA_P
+#define ZETA_P STABILIZATION_ATTITUDE_REF_ZETA_P
#define ZETA_OMEGA_P_RES 10
#define ZETA_OMEGA_P BFP_OF_REAL((ZETA_P*OMEGA_P), ZETA_OMEGA_P_RES)
#define OMEGA_2_P_RES 7
#define OMEGA_2_P BFP_OF_REAL((OMEGA_P*OMEGA_P), OMEGA_2_P_RES)
-#define OMEGA_Q BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_Q
-#define ZETA_Q BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_Q
+#define OMEGA_Q STABILIZATION_ATTITUDE_REF_OMEGA_Q
+#define ZETA_Q STABILIZATION_ATTITUDE_REF_ZETA_Q
#define ZETA_OMEGA_Q_RES 10
#define ZETA_OMEGA_Q BFP_OF_REAL((ZETA_Q*OMEGA_Q), ZETA_OMEGA_Q_RES)
#define OMEGA_2_Q_RES 7
#define OMEGA_2_Q BFP_OF_REAL((OMEGA_Q*OMEGA_Q), OMEGA_2_Q_RES)
-#define OMEGA_R BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_R
-#define ZETA_R BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_R
+#define OMEGA_R STABILIZATION_ATTITUDE_REF_OMEGA_R
+#define ZETA_R STABILIZATION_ATTITUDE_REF_ZETA_R
#define ZETA_OMEGA_R_RES 10
#define ZETA_OMEGA_R BFP_OF_REAL((ZETA_R*OMEGA_R), ZETA_OMEGA_R_RES)
#define OMEGA_2_R_RES 7
@@ -71,7 +71,7 @@
#define USE_REF 1
-void booz_stabilization_attitude_ref_update() {
+void stabilization_attitude_ref_update() {
#ifdef USE_REF
@@ -121,7 +121,7 @@
SATURATE_SPEED_TRIM_ACCEL();
#else /* !USE_REF */
- EULERS_COPY(booz_stab_att_ref_euler, booz_stabilization_att_sp);
+ EULERS_COPY(booz_stab_att_ref_euler, stabilization_att_sp);
INT_RATES_ZERO(booz_stab_att_ref_rate);
INT_RATES_ZERO(booz_stab_att_ref_accel);
#endif /* USE_REF */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,13 +18,13 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_REF_EULER_INT_H
-#define BOOZ_STABILIZATION_ATTITUDE_REF_EULER_INT_H
+#ifndef STABILIZATION_ATTITUDE_REF_EULER_INT_H
+#define STABILIZATION_ATTITUDE_REF_EULER_INT_H
-#include "stabilization/booz_stabilization_attitude_ref_int.h"
+#include "stabilization_attitude_ref_int.h"
#include "booz_radio_control.h"
@@ -44,9 +44,9 @@
/*
* Radio Control
*/
-#define SP_MAX_PHI ANGLE_BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI)
-#define SP_MAX_THETA
ANGLE_BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA)
-#define SP_MAX_R ANGLE_BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R)
+#define SP_MAX_PHI ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI)
+#define SP_MAX_THETA ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA)
+#define SP_MAX_R ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R)
@@ -55,11 +55,11 @@
#define RC_UPDATE_FREQ 40
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
+ radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
-#define BOOZ_STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
- \
+#define STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
+ \
_sp.phi = \
((int32_t)-radio_control.values[RADIO_CONTROL_ROLL] *
(int32_t)SP_MAX_PHI / MAX_PPRZ) \
<< (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
\
@@ -68,10 +68,10 @@
<< (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
\
if (_inflight) { \
if (YAW_DEADBAND_EXCEEDED()) { \
- _sp.psi += \
- ((int32_t)-radio_control.values[RADIO_CONTROL_YAW] *
(int32_t)SP_MAX_R / MAX_PPRZ / RC_UPDATE_FREQ) \
- << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
\
- ANGLE_REF_NORMALIZE(_sp.psi); \
+ _sp.psi += \
+ ((int32_t)-radio_control.values[RADIO_CONTROL_YAW] * (int32_t)SP_MAX_R /
MAX_PPRZ / RC_UPDATE_FREQ) \
+ << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC); \
+ ANGLE_REF_NORMALIZE(_sp.psi); \
}
\
} \
else { /* if not flying, use current yaw as setpoint */ \
@@ -79,12 +79,12 @@
} \
}
-#define BOOZ_STABILIZATION_ATTITUDE_ADD_SP(_add_sp) { \
+#define STABILIZATION_ATTITUDE_ADD_SP(_add_sp) { \
EULERS_ADD(booz_stab_att_sp_euler,_add_sp); \
ANGLE_REF_NORMALIZE(booz_stab_att_sp_euler.psi); \
}
-#define BOOZ_STABILIZATION_ATTITUDE_RESET_PSI_REF(_sp) { \
+#define STABILIZATION_ATTITUDE_RESET_PSI_REF(_sp) { \
_sp.psi = ahrs.ltp_to_body_euler.psi << (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC); \
booz_stab_att_ref_euler.psi = _sp.psi; \
booz_stab_att_ref_rate.r = 0; \
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_STABILISATION_ATTITUDE_REF_FLOAT_H
#define BOOZ_STABILISATION_ATTITUDE_REF_FLOAT_H
@@ -40,4 +40,3 @@
extern struct FloatRefModel booz_stab_att_ref_model[];
#endif /* BOOZ_STABILISATION_ATTITUDE_REF_FLOAT_H */
-
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_STABILISATION_ATTITUDE_REF_INT_H
#define BOOZ_STABILISATION_ATTITUDE_REF_INT_H
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,24 +18,24 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-/** \file booz_stabilization_attitude_ref_float.c
+/** \file stabilization_attitude_ref_float.c
* \brief Booz attitude reference generation (quaternion float version)
*
*/
#include "airframe.h"
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
-#include "booz_stabilization_attitude_ref_float.h"
+#include "stabilization_attitude_ref_float.h"
#include "quat_setpoint.h"
-#define REF_ACCEL_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT
-#define REF_ACCEL_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT
-#define REF_ACCEL_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT
+#define REF_ACCEL_MAX_P STABILIZATION_ATTITUDE_REF_MAX_PDOT
+#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_REF_MAX_QDOT
+#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_REF_MAX_RDOT
struct FloatEulers booz_stab_att_sp_euler;
struct FloatQuat booz_stab_att_sp_quat;
@@ -44,16 +44,16 @@
struct FloatRates booz_stab_att_ref_rate;
struct FloatRates booz_stab_att_ref_accel;
-struct FloatRefModel
booz_stab_att_ref_model[BOOZ_STABILIZATION_ATTITUDE_GAIN_NB];
+struct FloatRefModel booz_stab_att_ref_model[STABILIZATION_ATTITUDE_GAIN_NB];
-static int ref_idx = BOOZ_STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
+static int ref_idx = STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT;
-static const float omega_p[] = BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_P;
-static const float zeta_p[] = BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_P;
-static const float omega_q[] = BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_Q;
-static const float zeta_q[] = BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_Q;
-static const float omega_r[] = BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_R;
-static const float zeta_r[] = BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_R;
+static const float omega_p[] = STABILIZATION_ATTITUDE_REF_OMEGA_P;
+static const float zeta_p[] = STABILIZATION_ATTITUDE_REF_ZETA_P;
+static const float omega_q[] = STABILIZATION_ATTITUDE_REF_OMEGA_Q;
+static const float zeta_q[] = STABILIZATION_ATTITUDE_REF_ZETA_Q;
+static const float omega_r[] = STABILIZATION_ATTITUDE_REF_OMEGA_R;
+static const float zeta_r[] = STABILIZATION_ATTITUDE_REF_ZETA_R;
static void reset_psi_ref_from_body(void) {
booz_stab_att_ref_euler.psi = ahrs_float.ltp_to_body_euler.psi;
@@ -73,7 +73,7 @@
FLOAT_QUAT_WRAP_SHORTEST(booz_stab_att_ref_quat);
}
-void booz_stabilization_attitude_ref_init(void) {
+void stabilization_attitude_ref_init(void) {
FLOAT_EULERS_ZERO(booz_stab_att_sp_euler);
FLOAT_QUAT_ZERO( booz_stab_att_sp_quat);
@@ -82,22 +82,22 @@
FLOAT_RATES_ZERO( booz_stab_att_ref_rate);
FLOAT_RATES_ZERO( booz_stab_att_ref_accel);
- for (int i = 0; i < BOOZ_STABILIZATION_ATTITUDE_GAIN_NB; i++) {
+ for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
RATES_ASSIGN(booz_stab_att_ref_model[i].omega, omega_p[i], omega_q[i],
omega_r[i]);
RATES_ASSIGN(booz_stab_att_ref_model[i].zeta, zeta_p[i], zeta_q[i],
zeta_r[i]);
}
}
-void booz_stabilization_attitude_ref_schedule(uint8_t idx)
+void stabilization_attitude_ref_schedule(uint8_t idx)
{
ref_idx = idx;
}
-void booz_stabilization_attitude_ref_enter()
+void stabilization_attitude_ref_enter()
{
reset_psi_ref_from_body();
- booz_stabilization_attitude_sp_enter();
+ stabilization_attitude_sp_enter();
update_ref_quat_from_eulers();
}
@@ -110,7 +110,7 @@
#define DT_UPDATE (1./512.)
#endif
-void booz_stabilization_attitude_ref_update() {
+void stabilization_attitude_ref_update() {
/* integrate reference attitude */
struct FloatQuat qdot;
@@ -125,22 +125,22 @@
RATES_ADD(booz_stab_att_ref_rate, delta_rate);
/* compute reference angular accelerations */
- struct FloatQuat err;
+ struct FloatQuat err;
/* compute reference attitude error */
FLOAT_QUAT_INV_COMP(err, booz_stab_att_sp_quat, booz_stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(err);
/* propagate the 2nd order linear model */
- booz_stab_att_ref_accel.p =
-2.*booz_stab_att_ref_model[ref_idx].zeta.p*booz_stab_att_ref_model[ref_idx].omega.p*booz_stab_att_ref_rate.p
+ booz_stab_att_ref_accel.p =
-2.*booz_stab_att_ref_model[ref_idx].zeta.p*booz_stab_att_ref_model[ref_idx].omega.p*booz_stab_att_ref_rate.p
-
booz_stab_att_ref_model[ref_idx].omega.p*booz_stab_att_ref_model[ref_idx].omega.p*err.qx;
- booz_stab_att_ref_accel.q =
-2.*booz_stab_att_ref_model[ref_idx].zeta.q*booz_stab_att_ref_model[ref_idx].omega.q*booz_stab_att_ref_rate.q
+ booz_stab_att_ref_accel.q =
-2.*booz_stab_att_ref_model[ref_idx].zeta.q*booz_stab_att_ref_model[ref_idx].omega.q*booz_stab_att_ref_rate.q
-
booz_stab_att_ref_model[ref_idx].omega.q*booz_stab_att_ref_model[ref_idx].omega.q*err.qy;
- booz_stab_att_ref_accel.r =
-2.*booz_stab_att_ref_model[ref_idx].zeta.r*booz_stab_att_ref_model[ref_idx].omega.r*booz_stab_att_ref_rate.r
+ booz_stab_att_ref_accel.r =
-2.*booz_stab_att_ref_model[ref_idx].zeta.r*booz_stab_att_ref_model[ref_idx].omega.r*booz_stab_att_ref_rate.r
-
booz_stab_att_ref_model[ref_idx].omega.r*booz_stab_att_ref_model[ref_idx].omega.r*err.qz;
/* saturate acceleration */
const struct FloatRates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q,
-REF_ACCEL_MAX_R };
- const struct FloatRates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q,
REF_ACCEL_MAX_R };
+ const struct FloatRates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q,
REF_ACCEL_MAX_R };
RATES_BOUND_BOX(booz_stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* compute ref_euler */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
- * $Id: booz_stabilization_attitude_ref_traj_euler.h 3796 2009-07-25 00:01:02Z
poine $
- *
+ * $Id: stabilization_attitude_ref_traj_euler.h 3796 2009-07-25 00:01:02Z
poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,42 +18,42 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
-#define BOOZ_STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
+#ifndef STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
+#define STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include "booz_radio_control.h"
#include "math/pprz_algebra_float.h"
-#include "stabilization/booz_stabilization_attitude_ref_float.h"
+#include "stabilization_attitude_ref_float.h"
#define RC_UPDATE_FREQ 40.
-#define ROLL_COEF (BOOZ_STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
-#define ROLL_COEF_H (BOOZ_STABILIZATION_ATTITUDE_SP_MAX_P_H / MAX_PPRZ)
-#define PITCH_COEF ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
-#define YAW_COEF (BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)
+#define ROLL_COEF (STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
+#define ROLL_COEF_H (STABILIZATION_ATTITUDE_SP_MAX_P_H / MAX_PPRZ)
+#define PITCH_COEF ( STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
+#define YAW_COEF (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)
-#define ROLL_COEF_RATE (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
-#define PITCH_COEF_RATE ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)
-#define YAW_COEF_RATE ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
+#define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
+#define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)
+#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE <
-VALUE))
#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ?
VARIABLE : 0.0)
#define ROLL_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_ROLL] >
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_A || \
- radio_control.values[RADIO_CONTROL_ROLL] <
-BOOZ_STABILIZATION_ATTITUDE_DEADBAND_A)
+ (radio_control.values[RADIO_CONTROL_ROLL] >
STABILIZATION_ATTITUDE_DEADBAND_A || \
+ radio_control.values[RADIO_CONTROL_ROLL] <
-STABILIZATION_ATTITUDE_DEADBAND_A)
#define PITCH_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_PITCH] >
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_E || \
- radio_control.values[RADIO_CONTROL_PITCH] <
-BOOZ_STABILIZATION_ATTITUDE_DEADBAND_E)
+ (radio_control.values[RADIO_CONTROL_PITCH] >
STABILIZATION_ATTITUDE_DEADBAND_E || \
+ radio_control.values[RADIO_CONTROL_PITCH] <
-STABILIZATION_ATTITUDE_DEADBAND_E)
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
+ radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
-void booz_stabilization_attitude_ref_enter(void);
-void booz_stabilization_attitude_ref_schedule(uint8_t idx);
+void stabilization_attitude_ref_enter(void);
+void stabilization_attitude_ref_schedule(uint8_t idx);
-#endif /* BOOZ_STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H */
+#endif /* STABILIZATION_ATTITUDE_REF_QUAT_FLOAT_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -22,7 +22,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
@@ -36,163 +36,163 @@
#define MAX_SUM_ERR 4000000
-#ifndef BOOZ_STABILIZATION_RATE_DDGAIN_P
-#define BOOZ_STABILIZATION_RATE_DDGAIN_P 0
+#ifndef STABILIZATION_RATE_DDGAIN_P
+#define STABILIZATION_RATE_DDGAIN_P 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_DDGAIN_Q
-#define BOOZ_STABILIZATION_RATE_DDGAIN_Q 0
+#ifndef STABILIZATION_RATE_DDGAIN_Q
+#define STABILIZATION_RATE_DDGAIN_Q 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_DDGAIN_R
-#define BOOZ_STABILIZATION_RATE_DDGAIN_R 0
+#ifndef STABILIZATION_RATE_DDGAIN_R
+#define STABILIZATION_RATE_DDGAIN_R 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_IGAIN_P
-#define BOOZ_STABILIZATION_RATE_IGAIN_P 0
+#ifndef STABILIZATION_RATE_IGAIN_P
+#define STABILIZATION_RATE_IGAIN_P 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_IGAIN_Q
-#define BOOZ_STABILIZATION_RATE_IGAIN_Q 0
+#ifndef STABILIZATION_RATE_IGAIN_Q
+#define STABILIZATION_RATE_IGAIN_Q 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_IGAIN_R
-#define BOOZ_STABILIZATION_RATE_IGAIN_R 0
+#ifndef STABILIZATION_RATE_IGAIN_R
+#define STABILIZATION_RATE_IGAIN_R 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_REF_TAU
-#define BOOZ_STABILIZATION_RATE_REF_TAU 4
+#ifndef STABILIZATION_RATE_REF_TAU
+#define STABILIZATION_RATE_REF_TAU 4
#endif
#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
#define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
-struct Int32Rates booz_stabilization_rate_sp;
-struct Int32Rates booz_stabilization_rate_gain;
-struct Int32Rates booz_stabilization_rate_igain;
-struct Int32Rates booz_stabilization_rate_ddgain;
-struct Int32Rates booz_stabilization_rate_ref;
-struct Int32Rates booz_stabilization_rate_refdot;
-struct Int32Rates booz_stabilization_rate_sum_err;
+struct Int32Rates stabilization_rate_sp;
+struct Int32Rates stabilization_rate_gain;
+struct Int32Rates stabilization_rate_igain;
+struct Int32Rates stabilization_rate_ddgain;
+struct Int32Rates stabilization_rate_ref;
+struct Int32Rates stabilization_rate_refdot;
+struct Int32Rates stabilization_rate_sum_err;
-struct Int32Rates booz_stabilization_rate_fb_cmd;
-struct Int32Rates booz_stabilization_rate_ff_cmd;
+struct Int32Rates stabilization_rate_fb_cmd;
+struct Int32Rates stabilization_rate_ff_cmd;
-#ifndef BOOZ_STABILIZATION_RATE_DEADBAND_P
-#define BOOZ_STABILIZATION_RATE_DEADBAND_P 0
+#ifndef STABILIZATION_RATE_DEADBAND_P
+#define STABILIZATION_RATE_DEADBAND_P 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_DEADBAND_Q
-#define BOOZ_STABILIZATION_RATE_DEADBAND_Q 0
+#ifndef STABILIZATION_RATE_DEADBAND_Q
+#define STABILIZATION_RATE_DEADBAND_Q 0
#endif
-#ifndef BOOZ_STABILIZATION_RATE_DEADBAND_R
-#define BOOZ_STABILIZATION_RATE_DEADBAND_R 200
+#ifndef STABILIZATION_RATE_DEADBAND_R
+#define STABILIZATION_RATE_DEADBAND_R 200
#endif
#define ROLL_RATE_DEADBAND_EXCEEDED() \
- (radio_control.values[RADIO_CONTROL_ROLL] >
BOOZ_STABILIZATION_RATE_DEADBAND_P || \
- radio_control.values[RADIO_CONTROL_ROLL] <
-BOOZ_STABILIZATION_RATE_DEADBAND_P)
+ (radio_control.values[RADIO_CONTROL_ROLL] > STABILIZATION_RATE_DEADBAND_P
|| \
+ radio_control.values[RADIO_CONTROL_ROLL] < -STABILIZATION_RATE_DEADBAND_P)
#define PITCH_RATE_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_PITCH] >
BOOZ_STABILIZATION_RATE_DEADBAND_Q || \
- radio_control.values[RADIO_CONTROL_PITCH] <
-BOOZ_STABILIZATION_RATE_DEADBAND_Q)
+ (radio_control.values[RADIO_CONTROL_PITCH] > STABILIZATION_RATE_DEADBAND_Q
|| \
+ radio_control.values[RADIO_CONTROL_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)
#define YAW_RATE_DEADBAND_EXCEEDED() \
- (radio_control.values[RADIO_CONTROL_YAW] >
BOOZ_STABILIZATION_RATE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-BOOZ_STABILIZATION_RATE_DEADBAND_R)
+ (radio_control.values[RADIO_CONTROL_YAW] > STABILIZATION_RATE_DEADBAND_R ||
\
+ radio_control.values[RADIO_CONTROL_YAW] < -STABILIZATION_RATE_DEADBAND_R)
-void booz_stabilization_rate_init(void) {
+void stabilization_rate_init(void) {
- INT_RATES_ZERO(booz_stabilization_rate_sp);
+ INT_RATES_ZERO(stabilization_rate_sp);
- RATES_ASSIGN(booz_stabilization_rate_gain,
- BOOZ_STABILIZATION_RATE_GAIN_P,
- BOOZ_STABILIZATION_RATE_GAIN_Q,
- BOOZ_STABILIZATION_RATE_GAIN_R);
- RATES_ASSIGN(booz_stabilization_rate_igain,
- BOOZ_STABILIZATION_RATE_IGAIN_P,
- BOOZ_STABILIZATION_RATE_IGAIN_Q,
- BOOZ_STABILIZATION_RATE_IGAIN_R);
- RATES_ASSIGN(booz_stabilization_rate_ddgain,
- BOOZ_STABILIZATION_RATE_DDGAIN_P,
- BOOZ_STABILIZATION_RATE_DDGAIN_Q,
- BOOZ_STABILIZATION_RATE_DDGAIN_R);
+ RATES_ASSIGN(stabilization_rate_gain,
+ STABILIZATION_RATE_GAIN_P,
+ STABILIZATION_RATE_GAIN_Q,
+ STABILIZATION_RATE_GAIN_R);
+ RATES_ASSIGN(stabilization_rate_igain,
+ STABILIZATION_RATE_IGAIN_P,
+ STABILIZATION_RATE_IGAIN_Q,
+ STABILIZATION_RATE_IGAIN_R);
+ RATES_ASSIGN(stabilization_rate_ddgain,
+ STABILIZATION_RATE_DDGAIN_P,
+ STABILIZATION_RATE_DDGAIN_Q,
+ STABILIZATION_RATE_DDGAIN_R);
- INT_RATES_ZERO(booz_stabilization_rate_ref);
- INT_RATES_ZERO(booz_stabilization_rate_refdot);
- INT_RATES_ZERO(booz_stabilization_rate_sum_err);
+ INT_RATES_ZERO(stabilization_rate_ref);
+ INT_RATES_ZERO(stabilization_rate_refdot);
+ INT_RATES_ZERO(stabilization_rate_sum_err);
}
-void booz_stabilization_rate_read_rc( void ) {
+void stabilization_rate_read_rc( void ) {
if(ROLL_RATE_DEADBAND_EXCEEDED())
- booz_stabilization_rate_sp.p =
(int32_t)-radio_control.values[RADIO_CONTROL_ROLL] *
BOOZ_STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
+ stabilization_rate_sp.p =
(int32_t)-radio_control.values[RADIO_CONTROL_ROLL] *
STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
else
- booz_stabilization_rate_sp.p = 0;
+ stabilization_rate_sp.p = 0;
if(PITCH_RATE_DEADBAND_EXCEEDED())
- booz_stabilization_rate_sp.q =
(int32_t)radio_control.values[RADIO_CONTROL_PITCH] *
BOOZ_STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
+ stabilization_rate_sp.q =
(int32_t)radio_control.values[RADIO_CONTROL_PITCH] *
STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
else
- booz_stabilization_rate_sp.q = 0;
+ stabilization_rate_sp.q = 0;
if(YAW_RATE_DEADBAND_EXCEEDED())
- booz_stabilization_rate_sp.r =
(int32_t)-radio_control.values[RADIO_CONTROL_YAW] *
BOOZ_STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
+ stabilization_rate_sp.r =
(int32_t)-radio_control.values[RADIO_CONTROL_YAW] * STABILIZATION_RATE_SP_MAX_R
/ MAX_PPRZ;
else
- booz_stabilization_rate_sp.r = 0;
+ stabilization_rate_sp.r = 0;
}
-void booz_stabilization_rate_enter(void) {
- RATES_COPY(booz_stabilization_rate_ref, booz_stabilization_rate_sp);
- INT_RATES_ZERO(booz_stabilization_rate_sum_err);
+void stabilization_rate_enter(void) {
+ RATES_COPY(stabilization_rate_ref, stabilization_rate_sp);
+ INT_RATES_ZERO(stabilization_rate_sum_err);
}
-void booz_stabilization_rate_run(bool_t in_flight) {
+void stabilization_rate_run(bool_t in_flight) {
/* reference */
struct Int32Rates _r;
- RATES_DIFF(_r, booz_stabilization_rate_sp, booz_stabilization_rate_ref);
- RATES_SDIV(booz_stabilization_rate_refdot, _r,
BOOZ_STABILIZATION_RATE_REF_TAU);
+ RATES_DIFF(_r, stabilization_rate_sp, stabilization_rate_ref);
+ RATES_SDIV(stabilization_rate_refdot, _r, STABILIZATION_RATE_REF_TAU);
/* integrate ref */
const struct Int32Rates _delta_ref = {
- booz_stabilization_rate_refdot.p >> ( F_UPDATE_RES + REF_DOT_FRAC -
REF_FRAC),
- booz_stabilization_rate_refdot.q >> ( F_UPDATE_RES + REF_DOT_FRAC -
REF_FRAC),
- booz_stabilization_rate_refdot.r >> ( F_UPDATE_RES + REF_DOT_FRAC -
REF_FRAC)};
- RATES_ADD(booz_stabilization_rate_ref, _delta_ref);
+ stabilization_rate_refdot.p >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
+ stabilization_rate_refdot.q >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
+ stabilization_rate_refdot.r >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC)};
+ RATES_ADD(stabilization_rate_ref, _delta_ref);
/* compute feed-forward command */
- RATES_EWMULT_RSHIFT(booz_stabilization_rate_ff_cmd,
booz_stabilization_rate_ddgain, booz_stabilization_rate_refdot, 14);
+ RATES_EWMULT_RSHIFT(stabilization_rate_ff_cmd, stabilization_rate_ddgain,
stabilization_rate_refdot, 14);
/* compute feed-back command */
/* error for feedback */
const struct Int32Rates _ref_scaled = {
- OFFSET_AND_ROUND(booz_stabilization_rate_ref.p, (REF_FRAC -
INT32_RATE_FRAC)),
- OFFSET_AND_ROUND(booz_stabilization_rate_ref.q, (REF_FRAC -
INT32_RATE_FRAC)),
- OFFSET_AND_ROUND(booz_stabilization_rate_ref.r, (REF_FRAC -
INT32_RATE_FRAC)) };
+ OFFSET_AND_ROUND(stabilization_rate_ref.p, (REF_FRAC - INT32_RATE_FRAC)),
+ OFFSET_AND_ROUND(stabilization_rate_ref.q, (REF_FRAC - INT32_RATE_FRAC)),
+ OFFSET_AND_ROUND(stabilization_rate_ref.r, (REF_FRAC - INT32_RATE_FRAC)) };
struct Int32Rates _error;
RATES_DIFF(_error, ahrs.body_rate, _ref_scaled);
if (in_flight) {
/* update integrator */
- RATES_ADD(booz_stabilization_rate_sum_err, _error);
- RATES_BOUND_CUBE(booz_stabilization_rate_sum_err, -MAX_SUM_ERR,
MAX_SUM_ERR);
+ RATES_ADD(stabilization_rate_sum_err, _error);
+ RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
- INT_RATES_ZERO(booz_stabilization_rate_sum_err);
+ INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
- booz_stabilization_rate_fb_cmd.p = booz_stabilization_rate_gain.p * _error.p
+
- OFFSET_AND_ROUND2((booz_stabilization_rate_igain.p *
booz_stabilization_rate_sum_err.p), 10);
+ stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
+ OFFSET_AND_ROUND2((stabilization_rate_igain.p *
stabilization_rate_sum_err.p), 10);
- booz_stabilization_rate_fb_cmd.q = booz_stabilization_rate_gain.q * _error.q
+
- OFFSET_AND_ROUND2((booz_stabilization_rate_igain.q *
booz_stabilization_rate_sum_err.q), 10);
+ stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
+ OFFSET_AND_ROUND2((stabilization_rate_igain.q *
stabilization_rate_sum_err.q), 10);
- booz_stabilization_rate_fb_cmd.r = booz_stabilization_rate_gain.r * _error.r
+
- OFFSET_AND_ROUND2((booz_stabilization_rate_igain.r *
booz_stabilization_rate_sum_err.r), 10);
+ stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
+ OFFSET_AND_ROUND2((stabilization_rate_igain.r *
stabilization_rate_sum_err.r), 10);
- booz_stabilization_rate_fb_cmd.p = booz_stabilization_rate_fb_cmd.p >> 16;
- booz_stabilization_rate_fb_cmd.q = booz_stabilization_rate_fb_cmd.q >> 16;
- booz_stabilization_rate_fb_cmd.r = booz_stabilization_rate_fb_cmd.r >> 16;
+ stabilization_rate_fb_cmd.p = stabilization_rate_fb_cmd.p >> 16;
+ stabilization_rate_fb_cmd.q = stabilization_rate_fb_cmd.q >> 16;
+ stabilization_rate_fb_cmd.r = stabilization_rate_fb_cmd.r >> 16;
/* sum to final command */
- booz_stabilization_cmd[COMMAND_ROLL] = booz_stabilization_rate_ff_cmd.p +
booz_stabilization_rate_fb_cmd.p;
- booz_stabilization_cmd[COMMAND_PITCH] = booz_stabilization_rate_ff_cmd.q +
booz_stabilization_rate_fb_cmd.q;
- booz_stabilization_cmd[COMMAND_YAW] = booz_stabilization_rate_ff_cmd.r +
booz_stabilization_rate_fb_cmd.r;
+ stabilization_cmd[COMMAND_ROLL] = stabilization_rate_ff_cmd.p +
stabilization_rate_fb_cmd.p;
+ stabilization_cmd[COMMAND_PITCH] = stabilization_rate_ff_cmd.q +
stabilization_rate_fb_cmd.q;
+ stabilization_cmd[COMMAND_YAW] = stabilization_rate_ff_cmd.r +
stabilization_rate_fb_cmd.r;
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
2010-09-28 15:47:28 UTC (rev 6015)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,28 +18,28 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_RATE
-#define BOOZ_STABILIZATION_RATE
+#ifndef STABILIZATION_RATE
+#define STABILIZATION_RATE
#include "math/pprz_algebra_int.h"
-extern void booz_stabilization_rate_init(void);
-extern void booz_stabilization_rate_read_rc(void);
-extern void booz_stabilization_rate_run(bool_t in_flight);
-extern void booz_stabilization_rate_enter(void);
+extern void stabilization_rate_init(void);
+extern void stabilization_rate_read_rc(void);
+extern void stabilization_rate_run(bool_t in_flight);
+extern void stabilization_rate_enter(void);
-extern struct Int32Rates booz_stabilization_rate_sp;
-extern struct Int32Rates booz_stabilization_rate_gain;
-extern struct Int32Rates booz_stabilization_rate_igain;
-extern struct Int32Rates booz_stabilization_rate_ddgain;
-extern struct Int32Rates booz_stabilization_rate_ref;
-extern struct Int32Rates booz_stabilization_rate_refdot;
-extern struct Int32Rates booz_stabilization_rate_sum_err;
+extern struct Int32Rates stabilization_rate_sp;
+extern struct Int32Rates stabilization_rate_gain;
+extern struct Int32Rates stabilization_rate_igain;
+extern struct Int32Rates stabilization_rate_ddgain;
+extern struct Int32Rates stabilization_rate_ref;
+extern struct Int32Rates stabilization_rate_refdot;
+extern struct Int32Rates stabilization_rate_sum_err;
-extern struct Int32Rates booz_stabilization_rate_fb_cmd;
-extern struct Int32Rates booz_stabilization_rate_ff_cmd;
+extern struct Int32Rates stabilization_rate_fb_cmd;
+extern struct Int32Rates stabilization_rate_ff_cmd;
-#endif /* BOOZ_STABILIZATION_RATE */
+#endif /* STABILIZATION_RATE */
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.c
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.c
2010-09-28 15:47:38 UTC (rev 6016)
@@ -21,16 +21,14 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
-int32_t booz_stabilization_cmd[COMMANDS_NB];
+int32_t stabilization_cmd[COMMANDS_NB];
-void booz_stabilization_init(void) {
-#ifndef BOOZ_STABILIZATION_SKIP_RATE
- booz_stabilization_rate_init();
+void stabilization_init(void) {
+#ifndef STABILIZATION_SKIP_RATE
+ stabilization_rate_init();
#endif
- booz_stabilization_attitude_init();
+ stabilization_attitude_init();
}
-
-
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.h
2010-09-28 15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization.h
2010-09-28 15:47:38 UTC (rev 6016)
@@ -21,18 +21,18 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_STABILIZATION_H
-#define BOOZ_STABILIZATION_H
+#ifndef STABILIZATION_H
+#define STABILIZATION_H
#include "std.h"
#include "airframe.h"
-#include "stabilization/booz_stabilization_rate.h"
-#include "stabilization/booz_stabilization_attitude.h"
+#include <firmwares/rotorcraft/stabilization/stabilization_rate.h>
+#include <firmwares/rotorcraft/stabilization/stabilization_attitude.h>
-extern void booz_stabilization_init(void);
+extern void stabilization_init(void);
-extern int32_t booz_stabilization_cmd[COMMANDS_NB];
+extern int32_t stabilization_cmd[COMMANDS_NB];
-#endif /* BOOZ_STABILIZATION_H */
+#endif /* STABILIZATION_H */
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-09-28
15:47:38 UTC (rev 6016)
@@ -24,8 +24,8 @@
#include "vehicle_interface/vi.h"
#include <firmwares/rotorcraft/imu.h>
+#include <firmwares/rotorcraft/ahrs.h>
#include "booz/booz_gps.h"
-#include <firmwares/rotorcraft/ahrs.h>
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h 2010-09-28
15:47:28 UTC (rev 6015)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h 2010-09-28
15:47:38 UTC (rev 6016)
@@ -31,7 +31,7 @@
#include "std.h"
#include "math/pprz_algebra_int.h"
#include <firmwares/rotorcraft/autopilot.h>
-#include "booz/booz_stabilization.h"
+#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/guidance.h>
#include "booz/booz2_navigation.h"
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- [paparazzi-commits] [6016] rename booz_stabilization to stabilization,
Felix Ruess <=