flight/modules/Stabilization/inc/stabilization.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup StabilizationModule Stabilization Module
   6  * @brief Stabilization PID loops in an airframe type independent manner
   7  * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
   8  * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeState "Attitude State"
   9  * @{
  10  *
  11  * @file       stabilization.h
  12  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  13  * @brief      Attitude stabilization module.
  14  *
  15  * @see        The GNU Public License (GPL) Version 3
  16  *
  17  *****************************************************************************/
  18 /*
  19  * This program is free software; you can redistribute it and/or modify
  20  * it under the terms of the GNU General Public License as published by
  21  * the Free Software Foundation; either version 3 of the License, or
  22  * (at your option) any later version.
  23  *
  24  * This program is distributed in the hope that it will be useful, but
  25  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  26  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  27  * for more details.
  28  *
  29  * You should have received a copy of the GNU General Public License along
  30  * with this program; if not, write to the Free Software Foundation, Inc.,
  31  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  32  */
  33 #ifndef STABILIZATION_H
  34 #define STABILIZATION_H
  35
  36 #include <openpilot.h>
  37 #include <pid.h>
  38 #include <stabilizationsettings.h>
  39 #include <stabilizationbank.h>
  40
  41
  42 int32_t StabilizationInitialize();
  43
  44 typedef struct {
  45     StabilizationSettingsData settings;
  46     StabilizationBankData     stabBank;
  47     float gyro_alpha;
  48     float floatThrustPIDScaleCurve[STABILIZATIONBANK_THRUSTPIDSCALECURVE_NUMELEM];
  49     float acroInsanityFactors[STABILIZATIONBANK_ACROINSANITYFACTOR_NUMELEM];
  50     struct {
  51         float min_thrust;
  52         float max_thrust;
  53         float thrust_difference;
  54         float power_trim;
  55         float half_power_delay;
  56         float max_power_factor_angle;
  57     } cruiseControl;
  58     struct {
  59         int8_t gyroupdates;
  60         int8_t rateupdates;
  61     }     monitor;
  62     float rattitude_mode_transition_stick_position;
  63     struct pid innerPids[3], outerPids[3];
  64     // TPS [Roll,Pitch,Yaw][P,I,D]
  65     bool  thrust_pid_scaling_enabled[3][3];
  66 } StabilizationData;
  67
  68
  69 extern StabilizationData stabSettings;
  70
  71 #define AXES                4
  72 #define FAILSAFE_TIMEOUT_MS 30
  73
  74 #ifndef PIOS_STABILIZATION_STACK_SIZE
  75 #define STACK_SIZE_BYTES    800
  76 #else
  77 #define STACK_SIZE_BYTES    PIOS_STABILIZATION_STACK_SIZE
  78 #endif
  79
  80 // must be same as eventdispatcher to avoid needing additional mutexes
  81 #define CBTASK_PRIORITY     CALLBACK_TASK_FLIGHTCONTROL
  82
  83 #ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
  84 // outer loop only executes every 4th uavobject update to save CPU
  85 #define OUTERLOOP_SKIPCOUNT 4
  86 #else
  87 #define OUTERLOOP_SKIPCOUNT ATTITUDE_SENSORS_DOWNSAMPLE
  88 #endif // STABILIZATION_ATTITUDE_DOWNSAMPLED
  89 #endif // STABILIZATION_H
  90
  91 /**
  92  * @}
  93  * @}
  94  */