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stabilization_attitude_rc_setpoint.h
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stabilization_attitude_rc_setpoint.h
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/*
* Copyright (C) 2012 Felix Ruess <felix.ruess@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 stabilization_attitude_rc_setpoint.h
* Read an attitude setpoint from the RC.
*/
#ifndef STABILISATION_ATTITUDE_RC_SETPOINT_H
#define STABILISATION_ATTITUDE_RC_SETPOINT_H
#include "std.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/radio_control.h"
#include "state.h"
#ifdef STABILISATION_ATTITUDE_TYPE_INT
#define SP_MAX_PHI (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI)
#define SP_MAX_THETA (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA)
#define SP_MAX_R (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R)
#endif // STABILISATION_ATTITUDE_TYPE_INT
#ifdef STABILISATION_ATTITUDE_TYPE_FLOAT
#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
#endif // STABILISATION_ATTITUDE_TYPE_FLOAT
#define RC_UPDATE_FREQ 40
#ifdef STABILIZATION_ATTITUDE_DEADBAND_A
#define ROLL_DEADBAND_EXCEEDED() \
(radio_control.values[RADIO_ROLL] > STABILIZATION_ATTITUDE_DEADBAND_A || \
radio_control.values[RADIO_ROLL] < -STABILIZATION_ATTITUDE_DEADBAND_A)
#else
#define ROLL_DEADBAND_EXCEEDED() (TRUE)
#endif /* STABILIZATION_ATTITUDE_DEADBAND_A */
#ifdef STABILIZATION_ATTITUDE_DEADBAND_E
#define PITCH_DEADBAND_EXCEEDED() \
(radio_control.values[RADIO_PITCH] > STABILIZATION_ATTITUDE_DEADBAND_E || \
radio_control.values[RADIO_PITCH] < -STABILIZATION_ATTITUDE_DEADBAND_E)
#else
#define PITCH_DEADBAND_EXCEEDED() (TRUE)
#endif /* STABILIZATION_ATTITUDE_DEADBAND_E */
#define YAW_DEADBAND_EXCEEDED() \
(radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_DEADBAND_R || \
radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R)
static inline void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) {
sp->phi = ((int32_t) radio_control.values[RADIO_ROLL] * SP_MAX_PHI / MAX_PPRZ);
sp->theta = ((int32_t) radio_control.values[RADIO_PITCH] * SP_MAX_THETA / MAX_PPRZ);
if (in_flight) {
if (YAW_DEADBAND_EXCEEDED()) {
sp->psi += ((int32_t) radio_control.values[RADIO_YAW] * SP_MAX_R / MAX_PPRZ / RC_UPDATE_FREQ);
INT32_ANGLE_NORMALIZE(sp->psi);
}
}
else { /* if not flying, use current yaw as setpoint */
sp->psi = stateGetNedToBodyEulers_i()->psi;
}
}
static inline void stabilization_attitude_read_rc_roll_pitch_quat(struct FloatQuat* q) {
q->qx = radio_control.values[RADIO_ROLL] * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ / 2;
q->qy = radio_control.values[RADIO_PITCH] * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ / 2;
q->qz = 0.0;
/* normalize */
float norm = sqrtf(1.0 + SQUARE(q->qx)+ SQUARE(q->qy));
q->qi = 1.0 / norm;
q->qx /= norm;
q->qy /= norm;
}
#endif /* STABILISATION_ATTITUDE_RC_SETPOINT_H */