anglerate.c File Reference

#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include <platform.h>
#include "build_config.h"
#include "config/config.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "drivers/gyro_sync.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "rx/rx.h"
#include "anglerate.h"
#include "rate_profile.h"
#include "navigation.h"
#include "mixer.h"
#include "gtune.h"

Include dependency graph for anglerate.c:

Macros
#define	ANGLERATE_FLAG_ANTIWINDUP   (1 << 0)
#define	ANGLERATE_FLAG_PLIMIT   (1 << 0)

Functions
void	anglerate_init (struct anglerate *self, struct instruments *ins, const struct config const *config)
void	anglerate_set_algo (struct anglerate *self, pid_controller_type_t type)
void	anglerate_reset_angle_i (struct anglerate *self)
void	anglerate_reset_rate_i (struct anglerate *self)
const struct pid_controller_output *	anglerate_get_output_ptr (struct anglerate *self)
void	anglerate_update (struct anglerate *self, float dt)
void	anglerate_enable_plimit (struct anglerate *self, bool on)
void	anglerate_enable_antiwindup (struct anglerate *self, bool on)
void	anglerate_set_pid_axis_scale (struct anglerate *self, uint8_t axis, int32_t scale)
void	anglerate_set_pid_axis_weight (struct anglerate *self, uint8_t axis, int32_t weight)
void	anglerate_input_body_rates (struct anglerate *self, int16_t x, int16_t y, int16_t z)
void	anglerate_input_body_angles (struct anglerate *self, int16_t roll, int16_t pitch, int16_t yaw)
void	anglerate_input_user (struct anglerate *self, int16_t roll, int16_t pitch, int16_t yaw)
void	anglerate_set_level_percent (struct anglerate *self, uint8_t roll, uint8_t pitch)

Macro Definition Documentation

#define ANGLERATE_FLAG_ANTIWINDUP   (1 << 0)

#define ANGLERATE_FLAG_PLIMIT   (1 << 0)

Function Documentation

void anglerate_enable_antiwindup	(	struct anglerate *	self,
		bool	on
	)

void anglerate_enable_plimit	(	struct anglerate *	self,
		bool	on
	)

const struct pid_controller_output* anglerate_get_output_ptr

(

struct anglerate *

self

)

void anglerate_init	(	struct anglerate *	self,
		struct instruments *	ins,
		const struct config const *	config
	)

void anglerate_input_body_angles	(	struct anglerate *	self,
		int16_t	roll,
		int16_t	pitch,
		int16_t	yaw
	)

void anglerate_input_body_rates	(	struct anglerate *	self,
		int16_t	x,
		int16_t	y,
		int16_t	z
	)

void anglerate_input_user	(	struct anglerate *	self,
		int16_t	roll,
		int16_t	pitch,
		int16_t	yaw
	)

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void anglerate_reset_angle_i

(

struct anglerate *

self

)

void anglerate_reset_rate_i

(

struct anglerate *

self

)

void anglerate_set_algo	(	struct anglerate *	self,
		pid_controller_type_t	type
	)

void anglerate_set_level_percent	(	struct anglerate *	self,
		uint8_t	roll,
		uint8_t	pitch
	)

void anglerate_set_pid_axis_scale	(	struct anglerate *	self,
		uint8_t	axis,
		int32_t	scale
	)

void anglerate_set_pid_axis_weight	(	struct anglerate *	self,
		uint8_t	axis,
		int32_t	weight
	)

void anglerate_update	(	struct anglerate *	self,
		float	dt
	)