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[paparazzi-commits] [6204] rename booz_stab_att_* to stab_att_*
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6204] rename booz_stab_att_* to stab_att_* |
|
Date: |
Fri, 22 Oct 2010 22:49:39 +0000 |
Revision: 6204
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6204
Author: flixr
Date: 2010-10-22 22:49:39 +0000 (Fri, 22 Oct 2010)
Log Message:
-----------
rename booz_stab_att_* to stab_att_*
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
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_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_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/telemetry.h
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-10-22 21:51:01 UTC (rev 6203)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -103,8 +103,8 @@
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
- booz_stab_att_sp_euler.phi = 0;
- booz_stab_att_sp_euler.theta = 0;
+ stab_att_sp_euler.phi = 0;
+ stab_att_sp_euler.theta = 0;
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-10-22 21:51:01 UTC (rev 6203)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -187,8 +187,8 @@
if (horizontal_mode == HORIZONTAL_MODE_ATTITUDE) {
#ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
- booz_stab_att_sp_euler.phi = nav_roll << (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC);
- booz_stab_att_sp_euler.theta = nav_pitch << (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC);
+ stab_att_sp_euler.phi = nav_roll << (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC);
+ stab_att_sp_euler.theta = nav_pitch << (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC);
#endif
}
else {
@@ -271,7 +271,7 @@
ANGLE_REF_NORMALIZE(guidance_h_command_body.psi);
#endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
- EULERS_COPY(booz_stab_att_sp_euler, guidance_h_command_body);
+ EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
}
@@ -364,7 +364,7 @@
ANGLE_REF_NORMALIZE(guidance_h_command_body.psi);
// Set attitude setpoint
- EULERS_COPY(booz_stab_att_sp_euler, guidance_h_command_body);
+ EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
}
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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -68,14 +68,14 @@
void stabilization_attitude_read_rc(bool_t in_flight) {
- STABILIZATION_ATTITUDE_FLOAT_READ_RC(booz_stab_att_sp_euler, in_flight);
+ STABILIZATION_ATTITUDE_FLOAT_READ_RC(stab_att_sp_euler, in_flight);
}
void stabilization_attitude_enter(void) {
- STABILIZATION_ATTITUDE_FLOAT_RESET_PSI_REF( booz_stab_att_sp_euler );
+ STABILIZATION_ATTITUDE_FLOAT_RESET_PSI_REF( stab_att_sp_euler );
FLOAT_EULERS_ZERO( stabilization_att_sum_err );
}
@@ -89,18 +89,18 @@
/* Compute feedforward */
stabilization_att_ff_cmd[COMMAND_ROLL] =
- stabilization_gains.dd.x * booz_stab_att_ref_accel.p / 32.;
+ stabilization_gains.dd.x * stab_att_ref_accel.p / 32.;
stabilization_att_ff_cmd[COMMAND_PITCH] =
- stabilization_gains.dd.y * booz_stab_att_ref_accel.q / 32.;
+ stabilization_gains.dd.y * stab_att_ref_accel.q / 32.;
stabilization_att_ff_cmd[COMMAND_YAW] =
- stabilization_gains.dd.z * booz_stab_att_ref_accel.r / 32.;
+ stabilization_gains.dd.z * stab_att_ref_accel.r / 32.;
/* Compute feedback */
/* attitude error */
struct FloatEulers att_float;
EULERS_FLOAT_OF_BFP(att_float, ahrs.ltp_to_body_euler);
struct FloatEulers att_err;
- EULERS_DIFF(att_err, att_float, booz_stab_att_ref_euler);
+ EULERS_DIFF(att_err, att_float, stab_att_ref_euler);
FLOAT_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
@@ -116,7 +116,7 @@
struct FloatRates rate_float;
RATES_FLOAT_OF_BFP(rate_float, ahrs.body_rate);
struct FloatRates rate_err;
- RATES_DIFF(rate_err, rate_float, booz_stab_att_ref_rate);
+ RATES_DIFF(rate_err, rate_float, stab_att_ref_rate);
/* PID */
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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -69,14 +69,14 @@
void stabilization_attitude_read_rc(bool_t in_flight) {
- STABILIZATION_ATTITUDE_READ_RC(booz_stab_att_sp_euler, in_flight);
+ STABILIZATION_ATTITUDE_READ_RC(stab_att_sp_euler, in_flight);
}
void stabilization_attitude_enter(void) {
- STABILIZATION_ATTITUDE_RESET_PSI_REF( booz_stab_att_sp_euler );
+ STABILIZATION_ATTITUDE_RESET_PSI_REF( stab_att_sp_euler );
INT_EULERS_ZERO( stabilization_att_sum_err );
}
@@ -95,18 +95,18 @@
/* compute feedforward command */
stabilization_att_ff_cmd[COMMAND_ROLL] =
- OFFSET_AND_ROUND(stabilization_gains.dd.x * booz_stab_att_ref_accel.p, 5);
+ OFFSET_AND_ROUND(stabilization_gains.dd.x * 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);
+ OFFSET_AND_ROUND(stabilization_gains.dd.y * 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);
+ OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5);
/* compute feedback command */
/* attitude error */
const struct Int32Eulers att_ref_scaled = {
- OFFSET_AND_ROUND(booz_stab_att_ref_euler.phi, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)),
- OFFSET_AND_ROUND(booz_stab_att_ref_euler.theta, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)),
- OFFSET_AND_ROUND(booz_stab_att_ref_euler.psi, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)) };
+ OFFSET_AND_ROUND(stab_att_ref_euler.phi, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)),
+ OFFSET_AND_ROUND(stab_att_ref_euler.theta, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)),
+ OFFSET_AND_ROUND(stab_att_ref_euler.psi, (REF_ANGLE_FRAC -
INT32_ANGLE_FRAC)) };
struct Int32Eulers att_err;
EULERS_DIFF(att_err, ahrs.ltp_to_body_euler, att_ref_scaled);
INT32_ANGLE_NORMALIZE(att_err.psi);
@@ -122,9 +122,9 @@
/* rate error */
const struct Int32Rates rate_ref_scaled = {
- OFFSET_AND_ROUND(booz_stab_att_ref_rate.p, (REF_RATE_FRAC -
INT32_RATE_FRAC)),
- OFFSET_AND_ROUND(booz_stab_att_ref_rate.q, (REF_RATE_FRAC -
INT32_RATE_FRAC)),
- OFFSET_AND_ROUND(booz_stab_att_ref_rate.r, (REF_RATE_FRAC -
INT32_RATE_FRAC)) };
+ OFFSET_AND_ROUND(stab_att_ref_rate.p, (REF_RATE_FRAC - INT32_RATE_FRAC)),
+ OFFSET_AND_ROUND(stab_att_ref_rate.q, (REF_RATE_FRAC - INT32_RATE_FRAC)),
+ OFFSET_AND_ROUND(stab_att_ref_rate.r, (REF_RATE_FRAC - INT32_RATE_FRAC)) };
struct Int32Rates rate_err;
RATES_DIFF(rate_err, ahrs.body_rate, rate_ref_scaled);
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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -183,13 +183,13 @@
/* attitude error */
struct FloatQuat att_err;
- FLOAT_QUAT_INV_COMP(att_err, ahrs_float.ltp_to_body_quat,
booz_stab_att_ref_quat);
+ FLOAT_QUAT_INV_COMP(att_err, ahrs_float.ltp_to_body_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(att_err);
/* rate error */
struct FloatRates rate_err;
- RATES_DIFF(rate_err, ahrs_float.body_rate, booz_stab_att_ref_rate);
+ RATES_DIFF(rate_err, ahrs_float.body_rate, stab_att_ref_rate);
/* integrated error */
if (enable_integrator) {
@@ -209,7 +209,7 @@
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
- attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx],
&booz_stab_att_ref_accel);
+ attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx],
&stab_att_ref_accel);
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);
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
2010-10-22 22:49:39 UTC (rev 6204)
@@ -2,35 +2,35 @@
#define STABILIZATION_ATTITUDE_REF_H
#define SATURATE_SPEED_TRIM_ACCEL() { \
- if (booz_stab_att_ref_rate.p >= REF_RATE_MAX_P) { \
- booz_stab_att_ref_rate.p = REF_RATE_MAX_P; \
- if (booz_stab_att_ref_accel.p > 0) \
- booz_stab_att_ref_accel.p = 0; \
+ if (stab_att_ref_rate.p >= REF_RATE_MAX_P) { \
+ stab_att_ref_rate.p = REF_RATE_MAX_P; \
+ if (stab_att_ref_accel.p > 0) \
+ stab_att_ref_accel.p = 0; \
} \
- else if (booz_stab_att_ref_rate.p <= -REF_RATE_MAX_P) { \
- booz_stab_att_ref_rate.p = -REF_RATE_MAX_P; \
- if (booz_stab_att_ref_accel.p < 0) \
- booz_stab_att_ref_accel.p = 0; \
+ else if (stab_att_ref_rate.p <= -REF_RATE_MAX_P) { \
+ stab_att_ref_rate.p = -REF_RATE_MAX_P; \
+ if (stab_att_ref_accel.p < 0) \
+ stab_att_ref_accel.p = 0; \
} \
- if (booz_stab_att_ref_rate.q >= REF_RATE_MAX_Q) { \
- booz_stab_att_ref_rate.q = REF_RATE_MAX_Q; \
- if (booz_stab_att_ref_accel.q > 0) \
- booz_stab_att_ref_accel.q = 0; \
+ if (stab_att_ref_rate.q >= REF_RATE_MAX_Q) { \
+ stab_att_ref_rate.q = REF_RATE_MAX_Q; \
+ if (stab_att_ref_accel.q > 0) \
+ stab_att_ref_accel.q = 0; \
} \
- else if (booz_stab_att_ref_rate.q <= -REF_RATE_MAX_Q) { \
- booz_stab_att_ref_rate.q = -REF_RATE_MAX_Q; \
- if (booz_stab_att_ref_accel.q < 0) \
- booz_stab_att_ref_accel.q = 0; \
+ else if (stab_att_ref_rate.q <= -REF_RATE_MAX_Q) { \
+ stab_att_ref_rate.q = -REF_RATE_MAX_Q; \
+ if (stab_att_ref_accel.q < 0) \
+ stab_att_ref_accel.q = 0; \
} \
- if (booz_stab_att_ref_rate.r >= REF_RATE_MAX_R) { \
- booz_stab_att_ref_rate.r = REF_RATE_MAX_R; \
- if (booz_stab_att_ref_accel.r > 0) \
- booz_stab_att_ref_accel.r = 0; \
+ if (stab_att_ref_rate.r >= REF_RATE_MAX_R) { \
+ stab_att_ref_rate.r = REF_RATE_MAX_R; \
+ if (stab_att_ref_accel.r > 0) \
+ stab_att_ref_accel.r = 0; \
} \
- else if (booz_stab_att_ref_rate.r <= -REF_RATE_MAX_R) { \
- booz_stab_att_ref_rate.r = -REF_RATE_MAX_R; \
- if (booz_stab_att_ref_accel.r < 0) \
- booz_stab_att_ref_accel.r = 0; \
+ else if (stab_att_ref_rate.r <= -REF_RATE_MAX_R) { \
+ stab_att_ref_rate.r = -REF_RATE_MAX_R; \
+ if (stab_att_ref_accel.r < 0) \
+ stab_att_ref_accel.r = 0; \
} \
}
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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -1,17 +1,17 @@
#include <firmwares/rotorcraft/stabilization.h>
-struct FloatEulers booz_stab_att_sp_euler;
-struct FloatEulers booz_stab_att_ref_euler;
-struct FloatRates booz_stab_att_ref_rate;
-struct FloatRates booz_stab_att_ref_accel;
+struct FloatEulers stab_att_sp_euler;
+struct FloatEulers stab_att_ref_euler;
+struct FloatRates stab_att_ref_rate;
+struct FloatRates stab_att_ref_accel;
void stabilization_attitude_ref_init(void) {
- FLOAT_EULERS_ZERO(booz_stab_att_sp_euler);
- FLOAT_EULERS_ZERO(booz_stab_att_ref_euler);
- FLOAT_RATES_ZERO(booz_stab_att_ref_rate);
- FLOAT_RATES_ZERO(booz_stab_att_ref_accel);
+ FLOAT_EULERS_ZERO(stab_att_sp_euler);
+ FLOAT_EULERS_ZERO(stab_att_ref_euler);
+ FLOAT_RATES_ZERO(stab_att_ref_rate);
+ FLOAT_RATES_ZERO(stab_att_ref_accel);
}
@@ -46,40 +46,40 @@
/* dumb integrate reference attitude */
struct FloatRates delta_rate;
- RATES_SMUL(delta_rate, booz_stab_att_ref_rate, DT_UPDATE);
+ RATES_SMUL(delta_rate, stab_att_ref_rate, DT_UPDATE);
struct FloatEulers delta_angle;
EULERS_ASSIGN(delta_angle, delta_rate.p, delta_rate.q, delta_rate.r);
- EULERS_ADD(booz_stab_att_ref_euler, delta_angle );
- FLOAT_ANGLE_NORMALIZE(booz_stab_att_ref_euler.psi);
+ EULERS_ADD(stab_att_ref_euler, delta_angle );
+ FLOAT_ANGLE_NORMALIZE(stab_att_ref_euler.psi);
/* integrate reference rotational speeds */
struct FloatRates delta_accel;
- RATES_SMUL(delta_accel, booz_stab_att_ref_accel, DT_UPDATE);
- RATES_ADD(booz_stab_att_ref_rate, delta_accel);
+ RATES_SMUL(delta_accel, stab_att_ref_accel, DT_UPDATE);
+ RATES_ADD(stab_att_ref_rate, delta_accel);
/* compute reference attitude error */
struct FloatEulers ref_err;
- EULERS_DIFF(ref_err, booz_stab_att_ref_euler, booz_stab_att_sp_euler);
+ EULERS_DIFF(ref_err, stab_att_ref_euler, stab_att_sp_euler);
/* wrap it in the shortest direction */
FLOAT_ANGLE_NORMALIZE(ref_err.psi);
/* compute reference angular accelerations */
- booz_stab_att_ref_accel.p = -2.*ZETA_P*OMEGA_P*booz_stab_att_ref_rate.p -
OMEGA_P*OMEGA_P*ref_err.phi;
- booz_stab_att_ref_accel.q = -2.*ZETA_Q*OMEGA_P*booz_stab_att_ref_rate.q -
OMEGA_Q*OMEGA_Q*ref_err.theta;
- booz_stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_P*booz_stab_att_ref_rate.r -
OMEGA_R*OMEGA_R*ref_err.psi;
+ stab_att_ref_accel.p = -2.*ZETA_P*OMEGA_P*stab_att_ref_rate.p -
OMEGA_P*OMEGA_P*ref_err.phi;
+ stab_att_ref_accel.q = -2.*ZETA_Q*OMEGA_P*stab_att_ref_rate.q -
OMEGA_Q*OMEGA_Q*ref_err.theta;
+ stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_P*stab_att_ref_rate.r -
OMEGA_R*OMEGA_R*ref_err.psi;
/* saturate acceleration */
const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q,
-REF_ACCEL_MAX_R };
const struct Int32Rates 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);
+ RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* saturate speed and trim accel accordingly */
SATURATE_SPEED_TRIM_ACCEL();
#else /* !USE_REF */
- 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);
+ EULERS_COPY(stab_att_ref_euler, stabilization_att_sp);
+ FLOAT_RATES_ZERO(stab_att_ref_rate);
+ FLOAT_RATES_ZERO(stab_att_ref_accel);
#endif /* USE_REF */
}
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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -23,17 +23,17 @@
#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;
+struct Int32Eulers stab_att_sp_euler;
+struct Int32Eulers stab_att_ref_euler;
+struct Int32Rates stab_att_ref_rate;
+struct Int32Rates stab_att_ref_accel;
void stabilization_attitude_ref_init(void) {
- INT_EULERS_ZERO(booz_stab_att_sp_euler);
- INT_EULERS_ZERO(booz_stab_att_ref_euler);
- INT_RATES_ZERO( booz_stab_att_ref_rate);
- INT_RATES_ZERO( booz_stab_att_ref_accel);
+ INT_EULERS_ZERO(stab_att_sp_euler);
+ INT_EULERS_ZERO(stab_att_ref_euler);
+ INT_RATES_ZERO( stab_att_ref_rate);
+ INT_RATES_ZERO( stab_att_ref_accel);
}
@@ -77,32 +77,32 @@
/* dumb integrate reference attitude */
const struct Int32Eulers d_angle = {
- booz_stab_att_ref_rate.p >> ( F_UPDATE_RES + REF_RATE_FRAC -
REF_ANGLE_FRAC),
- booz_stab_att_ref_rate.q >> ( F_UPDATE_RES + REF_RATE_FRAC -
REF_ANGLE_FRAC),
- booz_stab_att_ref_rate.r >> ( F_UPDATE_RES + REF_RATE_FRAC -
REF_ANGLE_FRAC)};
- EULERS_ADD(booz_stab_att_ref_euler, d_angle );
- ANGLE_REF_NORMALIZE(booz_stab_att_ref_euler.psi);
+ stab_att_ref_rate.p >> ( F_UPDATE_RES + REF_RATE_FRAC - REF_ANGLE_FRAC),
+ stab_att_ref_rate.q >> ( F_UPDATE_RES + REF_RATE_FRAC - REF_ANGLE_FRAC),
+ stab_att_ref_rate.r >> ( F_UPDATE_RES + REF_RATE_FRAC - REF_ANGLE_FRAC)};
+ EULERS_ADD(stab_att_ref_euler, d_angle );
+ ANGLE_REF_NORMALIZE(stab_att_ref_euler.psi);
/* integrate reference rotational speeds */
const struct Int32Rates d_rate = {
- booz_stab_att_ref_accel.p >> ( F_UPDATE_RES + REF_ACCEL_FRAC -
REF_RATE_FRAC),
- booz_stab_att_ref_accel.q >> ( F_UPDATE_RES + REF_ACCEL_FRAC -
REF_RATE_FRAC),
- booz_stab_att_ref_accel.r >> ( F_UPDATE_RES + REF_ACCEL_FRAC -
REF_RATE_FRAC)};
- RATES_ADD(booz_stab_att_ref_rate, d_rate);
+ stab_att_ref_accel.p >> ( F_UPDATE_RES + REF_ACCEL_FRAC - REF_RATE_FRAC),
+ stab_att_ref_accel.q >> ( F_UPDATE_RES + REF_ACCEL_FRAC - REF_RATE_FRAC),
+ stab_att_ref_accel.r >> ( F_UPDATE_RES + REF_ACCEL_FRAC -
REF_RATE_FRAC)};
+ RATES_ADD(stab_att_ref_rate, d_rate);
/* compute reference attitude error */
struct Int32Eulers ref_err;
- EULERS_DIFF(ref_err, booz_stab_att_ref_euler, booz_stab_att_sp_euler);
+ EULERS_DIFF(ref_err, stab_att_ref_euler, stab_att_sp_euler);
/* wrap it in the shortest direction */
ANGLE_REF_NORMALIZE(ref_err.psi);
/* compute reference angular accelerations */
const struct Int32Rates accel_rate = {
- ((int32_t)(-2.*ZETA_OMEGA_P) * (booz_stab_att_ref_rate.p >>
(REF_RATE_FRAC - REF_ACCEL_FRAC)))
+ ((int32_t)(-2.*ZETA_OMEGA_P) * (stab_att_ref_rate.p >> (REF_RATE_FRAC -
REF_ACCEL_FRAC)))
>> (ZETA_OMEGA_P_RES),
- ((int32_t)(-2.*ZETA_OMEGA_Q) * (booz_stab_att_ref_rate.q >>
(REF_RATE_FRAC - REF_ACCEL_FRAC)))
+ ((int32_t)(-2.*ZETA_OMEGA_Q) * (stab_att_ref_rate.q >> (REF_RATE_FRAC -
REF_ACCEL_FRAC)))
>> (ZETA_OMEGA_Q_RES),
- ((int32_t)(-2.*ZETA_OMEGA_R) * (booz_stab_att_ref_rate.r >>
(REF_RATE_FRAC - REF_ACCEL_FRAC)))
+ ((int32_t)(-2.*ZETA_OMEGA_R) * (stab_att_ref_rate.r >> (REF_RATE_FRAC -
REF_ACCEL_FRAC)))
>> (ZETA_OMEGA_R_RES) };
const struct Int32Rates accel_angle = {
@@ -110,20 +110,20 @@
((int32_t)(-OMEGA_2_Q)* (ref_err.theta >> (REF_ANGLE_FRAC -
REF_ACCEL_FRAC))) >> (OMEGA_2_Q_RES),
((int32_t)(-OMEGA_2_R)* (ref_err.psi >> (REF_ANGLE_FRAC -
REF_ACCEL_FRAC))) >> (OMEGA_2_R_RES) };
- RATES_SUM(booz_stab_att_ref_accel, accel_rate, accel_angle);
+ RATES_SUM(stab_att_ref_accel, accel_rate, accel_angle);
/* saturate acceleration */
const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q,
-REF_ACCEL_MAX_R };
const struct Int32Rates 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);
+ RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* saturate speed and trim accel accordingly */
SATURATE_SPEED_TRIM_ACCEL();
#else /* !USE_REF */
- 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);
+ EULERS_COPY(stab_att_ref_euler, stabilization_att_sp);
+ INT_RATES_ZERO(stab_att_ref_rate);
+ INT_RATES_ZERO(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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
2010-10-22 22:49:39 UTC (rev 6204)
@@ -80,14 +80,14 @@
}
#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); \
+ EULERS_ADD(stab_att_sp_euler,_add_sp); \
+ ANGLE_REF_NORMALIZE(stab_att_sp_euler.psi); \
}
#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; \
+ stab_att_ref_euler.psi = _sp.psi; \
+ 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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
2010-10-22 22:49:39 UTC (rev 6204)
@@ -25,18 +25,18 @@
#include "airframe.h"
-extern struct FloatEulers booz_stab_att_sp_euler;
-extern struct FloatQuat booz_stab_att_sp_quat;
-extern struct FloatEulers booz_stab_att_ref_euler;
-extern struct FloatQuat booz_stab_att_ref_quat;
-extern struct FloatRates booz_stab_att_ref_rate;
-extern struct FloatRates booz_stab_att_ref_accel;
+extern struct FloatEulers stab_att_sp_euler;
+extern struct FloatQuat stab_att_sp_quat;
+extern struct FloatEulers stab_att_ref_euler;
+extern struct FloatQuat stab_att_ref_quat;
+extern struct FloatRates stab_att_ref_rate;
+extern struct FloatRates stab_att_ref_accel;
struct FloatRefModel {
struct FloatRates omega;
struct FloatRates zeta;
};
-extern struct FloatRefModel booz_stab_att_ref_model[];
+extern struct FloatRefModel 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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
2010-10-22 22:49:39 UTC (rev 6204)
@@ -23,13 +23,13 @@
#ifndef BOOZ_STABILISATION_ATTITUDE_REF_INT_H
#define BOOZ_STABILISATION_ATTITUDE_REF_INT_H
-extern struct Int32Eulers booz_stab_att_sp_vi_euler; /* vehicle interface */
-extern struct Int32Eulers booz_stab_att_sp_rc_euler; /* radio control */
-extern struct Int32Eulers booz_stab_att_sp_euler; /* sum of the above */
-extern struct Int32Quat booz_stab_att_sp_quat;
-extern struct Int32Eulers booz_stab_att_ref_euler;
-extern struct Int32Quat booz_stab_att_ref_quat;
-extern struct Int32Rates booz_stab_att_ref_rate;
-extern struct Int32Rates booz_stab_att_ref_accel;
+extern struct Int32Eulers stab_att_sp_vi_euler; /* vehicle interface */
+extern struct Int32Eulers stab_att_sp_rc_euler; /* radio control */
+extern struct Int32Eulers stab_att_sp_euler; /* sum of the above */
+extern struct Int32Quat stab_att_sp_quat;
+extern struct Int32Eulers stab_att_ref_euler;
+extern struct Int32Quat stab_att_ref_quat;
+extern struct Int32Rates stab_att_ref_rate;
+extern struct Int32Rates stab_att_ref_accel;
#endif /* 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
2010-10-22 21:51:01 UTC (rev 6203)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
2010-10-22 22:49:39 UTC (rev 6204)
@@ -37,14 +37,14 @@
#define REF_ACCEL_MAX_Q STABILIZATION_ATTITUDE_FLOAT_REF_MAX_QDOT
#define REF_ACCEL_MAX_R STABILIZATION_ATTITUDE_FLOAT_REF_MAX_RDOT
-struct FloatEulers booz_stab_att_sp_euler;
-struct FloatQuat booz_stab_att_sp_quat;
-struct FloatEulers booz_stab_att_ref_euler;
-struct FloatQuat booz_stab_att_ref_quat;
-struct FloatRates booz_stab_att_ref_rate;
-struct FloatRates booz_stab_att_ref_accel;
+struct FloatEulers stab_att_sp_euler;
+struct FloatQuat stab_att_sp_quat;
+struct FloatEulers stab_att_ref_euler;
+struct FloatQuat stab_att_ref_quat;
+struct FloatRates stab_att_ref_rate;
+struct FloatRates stab_att_ref_accel;
-struct FloatRefModel
booz_stab_att_ref_model[STABILIZATION_ATTITUDE_FLOAT_GAIN_NB];
+struct FloatRefModel stab_att_ref_model[STABILIZATION_ATTITUDE_FLOAT_GAIN_NB];
static int ref_idx = STABILIZATION_ATTITUDE_FLOAT_GAIN_IDX_DEFAULT;
@@ -56,35 +56,35 @@
static const float zeta_r[] = STABILIZATION_ATTITUDE_FLOAT_REF_ZETA_R;
static void reset_psi_ref_from_body(void) {
- booz_stab_att_ref_euler.psi = ahrs_float.ltp_to_body_euler.psi;
- booz_stab_att_ref_rate.r = 0;
- booz_stab_att_ref_accel.r = 0;
+ stab_att_ref_euler.psi = ahrs_float.ltp_to_body_euler.psi;
+ stab_att_ref_rate.r = 0;
+ stab_att_ref_accel.r = 0;
}
static void update_ref_quat_from_eulers(void) {
struct FloatRMat ref_rmat;
#ifdef STICKS_RMAT312
- FLOAT_RMAT_OF_EULERS_312(ref_rmat, booz_stab_att_ref_euler);
+ FLOAT_RMAT_OF_EULERS_312(ref_rmat, stab_att_ref_euler);
#else
- FLOAT_RMAT_OF_EULERS_321(ref_rmat, booz_stab_att_ref_euler);
+ FLOAT_RMAT_OF_EULERS_321(ref_rmat, stab_att_ref_euler);
#endif
- FLOAT_QUAT_OF_RMAT(booz_stab_att_ref_quat, ref_rmat);
- FLOAT_QUAT_WRAP_SHORTEST(booz_stab_att_ref_quat);
+ FLOAT_QUAT_OF_RMAT(stab_att_ref_quat, ref_rmat);
+ FLOAT_QUAT_WRAP_SHORTEST(stab_att_ref_quat);
}
void stabilization_attitude_ref_init(void) {
- FLOAT_EULERS_ZERO(booz_stab_att_sp_euler);
- FLOAT_QUAT_ZERO( booz_stab_att_sp_quat);
- FLOAT_EULERS_ZERO(booz_stab_att_ref_euler);
- FLOAT_QUAT_ZERO( booz_stab_att_ref_quat);
- FLOAT_RATES_ZERO( booz_stab_att_ref_rate);
- FLOAT_RATES_ZERO( booz_stab_att_ref_accel);
+ FLOAT_EULERS_ZERO(stab_att_sp_euler);
+ FLOAT_QUAT_ZERO( stab_att_sp_quat);
+ FLOAT_EULERS_ZERO(stab_att_ref_euler);
+ FLOAT_QUAT_ZERO( stab_att_ref_quat);
+ FLOAT_RATES_ZERO( stab_att_ref_rate);
+ FLOAT_RATES_ZERO( stab_att_ref_accel);
for (int i = 0; i < STABILIZATION_ATTITUDE_FLOAT_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]);
+ RATES_ASSIGN(stab_att_ref_model[i].omega, omega_p[i], omega_q[i],
omega_r[i]);
+ RATES_ASSIGN(stab_att_ref_model[i].zeta, zeta_p[i], zeta_q[i], zeta_r[i]);
}
}
@@ -114,35 +114,35 @@
/* integrate reference attitude */
struct FloatQuat qdot;
- FLOAT_QUAT_DERIVATIVE(qdot, booz_stab_att_ref_rate, booz_stab_att_ref_quat);
+ FLOAT_QUAT_DERIVATIVE(qdot, stab_att_ref_rate, stab_att_ref_quat);
QUAT_SMUL(qdot, qdot, DT_UPDATE);
- QUAT_ADD(booz_stab_att_ref_quat, qdot);
- FLOAT_QUAT_NORMALISE(booz_stab_att_ref_quat);
+ QUAT_ADD(stab_att_ref_quat, qdot);
+ FLOAT_QUAT_NORMALISE(stab_att_ref_quat);
/* integrate reference rotational speeds */
struct FloatRates delta_rate;
- RATES_SMUL(delta_rate, booz_stab_att_ref_accel, DT_UPDATE);
- RATES_ADD(booz_stab_att_ref_rate, delta_rate);
+ RATES_SMUL(delta_rate, stab_att_ref_accel, DT_UPDATE);
+ RATES_ADD(stab_att_ref_rate, delta_rate);
/* compute reference angular accelerations */
struct FloatQuat err;
/* compute reference attitude error */
- FLOAT_QUAT_INV_COMP(err, booz_stab_att_sp_quat, booz_stab_att_ref_quat);
+ FLOAT_QUAT_INV_COMP(err, stab_att_sp_quat, 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_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_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_model[ref_idx].omega.r*booz_stab_att_ref_model[ref_idx].omega.r*err.qz;
+ stab_att_ref_accel.p =
-2.*stab_att_ref_model[ref_idx].zeta.p*stab_att_ref_model[ref_idx].omega.p*stab_att_ref_rate.p
+ -
stab_att_ref_model[ref_idx].omega.p*stab_att_ref_model[ref_idx].omega.p*err.qx;
+ stab_att_ref_accel.q =
-2.*stab_att_ref_model[ref_idx].zeta.q*stab_att_ref_model[ref_idx].omega.q*stab_att_ref_rate.q
+ -
stab_att_ref_model[ref_idx].omega.q*stab_att_ref_model[ref_idx].omega.q*err.qy;
+ stab_att_ref_accel.r =
-2.*stab_att_ref_model[ref_idx].zeta.r*stab_att_ref_model[ref_idx].omega.r*stab_att_ref_rate.r
+ -
stab_att_ref_model[ref_idx].omega.r*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 };
- RATES_BOUND_BOX(booz_stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
+ RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* compute ref_euler */
- FLOAT_EULERS_OF_QUAT(booz_stab_att_ref_euler, booz_stab_att_ref_quat);
+ FLOAT_EULERS_OF_QUAT(stab_att_ref_euler, stab_att_ref_quat);
}
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-22 21:51:01 UTC (rev 6203)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-22 22:49:39 UTC (rev 6204)
@@ -221,9 +221,9 @@
&ahrs.ltp_to_body_euler.phi, \
&ahrs.ltp_to_body_euler.theta, \
&ahrs.ltp_to_body_euler.psi, \
- &booz_stab_att_sp_euler.phi, \
- &booz_stab_att_sp_euler.theta, \
- &booz_stab_att_sp_euler.psi, \
+ &stab_att_sp_euler.phi, \
+ &stab_att_sp_euler.theta, \
+ &stab_att_sp_euler.psi, \
&stabilization_att_sum_err.phi, \
&stabilization_att_sum_err.theta, \
&stabilization_att_sum_err.psi, \
@@ -241,18 +241,18 @@
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_chan) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_INT(_chan, \
- &booz_stab_att_sp_euler.phi, \
- &booz_stab_att_sp_euler.theta, \
- &booz_stab_att_sp_euler.psi, \
- &booz_stab_att_ref_euler.phi, \
- &booz_stab_att_ref_euler.theta, \
- &booz_stab_att_ref_euler.psi, \
- &booz_stab_att_ref_rate.p, \
- &booz_stab_att_ref_rate.q, \
- &booz_stab_att_ref_rate.r, \
- &booz_stab_att_ref_accel.p, \
- &booz_stab_att_ref_accel.q, \
- &booz_stab_att_ref_accel.r); \
+ &stab_att_sp_euler.phi, \
+ &stab_att_sp_euler.theta, \
+ &stab_att_sp_euler.psi, \
+ &stab_att_ref_euler.phi, \
+ &stab_att_ref_euler.theta, \
+ &stab_att_ref_euler.psi, \
+ &stab_att_ref_rate.p, \
+ &stab_att_ref_rate.q, \
+ &stab_att_ref_rate.r, \
+ &stab_att_ref_accel.p, \
+ &stab_att_ref_accel.q, \
+ &stab_att_ref_accel.r); \
}
#endif /* STABILISATION_ATTITUDE_TYPE_INT */
@@ -265,9 +265,9 @@
&ahrs_float.ltp_to_body_euler.phi, \
&ahrs_float.ltp_to_body_euler.theta, \
&ahrs_float.ltp_to_body_euler.psi, \
- &booz_stab_att_ref_euler.phi, \
- &booz_stab_att_ref_euler.theta, \
- &booz_stab_att_ref_euler.psi, \
+ &stab_att_ref_euler.phi, \
+ &stab_att_ref_euler.theta, \
+ &stab_att_ref_euler.psi, \
&stabilization_att_sum_err.phi, \
&stabilization_att_sum_err.theta, \
&stabilization_att_sum_err.psi, \
@@ -284,18 +284,18 @@
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_chan) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_FLOAT(_chan, \
- &booz_stab_att_sp_euler.phi, \
- &booz_stab_att_sp_euler.theta, \
- &booz_stab_att_sp_euler.psi, \
- &booz_stab_att_ref_euler.phi, \
- &booz_stab_att_ref_euler.theta,
\
- &booz_stab_att_ref_euler.psi, \
- &booz_stab_att_ref_rate.p,
\
- &booz_stab_att_ref_rate.q,
\
- &booz_stab_att_ref_rate.r,
\
- &booz_stab_att_ref_accel.p, \
- &booz_stab_att_ref_accel.q, \
- &booz_stab_att_ref_accel.r); \
+ &stab_att_sp_euler.phi, \
+ &stab_att_sp_euler.theta, \
+ &stab_att_sp_euler.psi, \
+ &stab_att_ref_euler.phi, \
+ &stab_att_ref_euler.theta, \
+ &stab_att_ref_euler.psi, \
+ &stab_att_ref_rate.p, \
+ &stab_att_ref_rate.q, \
+ &stab_att_ref_rate.r, \
+ &stab_att_ref_accel.p, \
+ &stab_att_ref_accel.q, \
+ &stab_att_ref_accel.r); \
}
#endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
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- [paparazzi-commits] [6204] rename booz_stab_att_* to stab_att_*,
Felix Ruess <=