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stabilization_attitude_int.h
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stabilization_attitude_int.h
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/*
* $Id: stabilization_attitude.h 3794 2009-07-24 22:01:51Z poine $
*
* 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.
*/
#ifndef STABILIZATION_ATTITUDE_INT_H
#define STABILIZATION_ATTITUDE_INT_H
#include "math/pprz_algebra_int.h"
#include "generated/airframe.h"
struct Int32AttitudeGains {
struct Int32Vect3 p;
struct Int32Vect3 d;
struct Int32Vect3 dd;
struct Int32Vect3 i;
};
extern struct Int32AttitudeGains stabilization_gains;
extern struct Int32Eulers stabilization_att_sum_err;
extern int32_t stabilization_att_fb_cmd[COMMANDS_NB];
extern int32_t stabilization_att_ff_cmd[COMMANDS_NB];
#endif /* STABILIZATION_ATTITUDE_INT_H */