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stabilization_attitude.h
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stabilization_attitude.h
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* 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.
*/
/** @file firmwares/rotorcraft/stabilization/stabilization_attitude.h
* General attitude stabilization interface for rotorcrafts.
* The actual implementation is automatically included.
*/
#ifndef STABILIZATION_ATTITUDE_H
#define STABILIZATION_ATTITUDE_H
#ifdef __cplusplus
extern "C" {
#endif
#include "firmwares/rotorcraft/stabilization.h"
#include "math/pprz_algebra_int.h"
#include STABILIZATION_ATTITUDE_TYPE_H
extern void stabilization_attitude_init(void);
extern void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
extern void stabilization_attitude_enter(void);
extern void stabilization_attitude_set_failsafe_setpoint(void);
extern void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy);
extern void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading);
extern void stabilization_attitude_run(bool in_flight);
#ifdef __cplusplus
}
#endif
#endif /* STABILIZATION_ATTITUDE_H */