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LibrePilot/flight/modules/Stabilization/inc/stabilization.h

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
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* @addtogroup StabilizationModule Stabilization Module
* @brief Stabilization PID loops in an airframe type independent manner
* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeState "Attitude State"
* @{
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*
* @file stabilization.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef STABILIZATION_H
#define STABILIZATION_H
#include <openpilot.h>
#include <pid.h>
#include <stabilizationsettings.h>
#include <stabilizationbank.h>
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int32_t StabilizationInitialize();
typedef struct {
StabilizationSettingsData settings;
StabilizationBankData stabBank;
float gyro_alpha;
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float floatThrustPIDScaleCurve[STABILIZATIONBANK_THRUSTPIDSCALECURVE_NUMELEM];
float acroInsanityFactors[STABILIZATIONBANK_ACROINSANITYFACTOR_NUMELEM];
struct {
float min_thrust;
float max_thrust;
float thrust_difference;
float power_trim;
float half_power_delay;
float max_power_factor_angle;
} cruiseControl;
struct {
int8_t gyroupdates;
int8_t rateupdates;
} monitor;
float rattitude_mode_transition_stick_position;
struct pid innerPids[3], outerPids[3];
// TPS [Roll,Pitch,Yaw][P,I,D]
bool thrust_pid_scaling_enabled[3][3];
} StabilizationData;
extern StabilizationData stabSettings;
#define AXES 4
#define FAILSAFE_TIMEOUT_MS 30
#ifndef PIOS_STABILIZATION_STACK_SIZE
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES PIOS_STABILIZATION_STACK_SIZE
#endif
// must be same as eventdispatcher to avoid needing additional mutexes
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
// outer loop only executes every 4th uavobject update to save CPU
#define OUTERLOOP_SKIPCOUNT 4
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#endif // STABILIZATION_H
/**
* @}
* @}
*/