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c63540b2ec
Conflicts: flight/modules/Stabilization/stabilization.c shared/uavobjectdefinition/stabilizationsettings.xml
88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup StabilizationModule Stabilization Module
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* @brief Stabilization PID loops in an airframe type independent manner
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* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
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* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeState "Attitude State"
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* @{
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*
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* @file stabilization.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef STABILIZATION_H
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#define STABILIZATION_H
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#include <openpilot.h>
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#include <pid.h>
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#include <stabilizationsettings.h>
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#include <stabilizationbank.h>
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int32_t StabilizationInitialize();
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typedef struct {
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StabilizationSettingsData settings;
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StabilizationBankData stabBank;
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float gyro_alpha;
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struct {
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float min_thrust;
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float max_thrust;
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float thrust_difference;
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float power_trim;
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float half_power_delay;
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float max_power_factor_angle;
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} cruiseControl;
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struct {
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int8_t gyroupdates;
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int8_t rateupdates;
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} monitor;
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float rattitude_mode_transition_stick_position;
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struct pid innerPids[3], outerPids[3];
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} StabilizationData;
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extern StabilizationData stabSettings;
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#define AXES 4
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#define FAILSAFE_TIMEOUT_MS 30
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#ifndef PIOS_STABILIZATION_STACK_SIZE
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#define STACK_SIZE_BYTES 800
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#else
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#define STACK_SIZE_BYTES PIOS_STABILIZATION_STACK_SIZE
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#endif
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// must be same as eventdispatcher to avoid needing additional mutexes
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#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
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// outer loop only executes every 4th uavobject update to safe CPU
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#define OUTERLOOP_SKIPCOUNT 4
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#endif // STABILIZATION_H
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/**
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* @}
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* @}
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*/
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