stabilization_float_quat

Stabilization controller for rotorcraft using float quaternion implementation

Section STABILIZATION_ATTITUDE
STABILIZATION_ATTITUDE_
Name	Value	Description
SP_MAX_PHI	45.	max setpoint for roll angle
SP_MAX_THETA	45.	max setpoint for pitch angle
SP_MAX_R	90.	max setpoint for yaw rate
DEADBAND_R	250	deadband on yaw rate input
REF_OMEGA_P	{400}	reference generator omega param on roll rate
REF_ZETA_P	{0.9}	reference generator zeta param on roll rate
REF_MAX_P	300.	reference generator max roll rate
REF_MAX_PDOT	RadOfDeg(7000.)	reference generator max roll acceleration
REF_OMEGA_Q	{400}	reference generator omega param on pitch rate
REF_ZETA_Q	{0.9}	reference generator zeta param on pitch rate
REF_MAX_Q	300.	reference generator max pitch rate
REF_MAX_QDOT	RadOfDeg(7000.)	reference generator max pitch acceleration
REF_OMEGA_R	{250}	reference generator omega param on yaw rate
REF_ZETA_R	{0.9}	reference generator zeta param on yaw rate
REF_MAX_R	180.	reference generator max yaw rate
REF_MAX_RDOT	RadOfDeg(1800.)	reference generator max yaw acceleration
PHI_PGAIN	{400}	feedback roll P gain
PHI_DGAIN	{300}	feedback roll D gain
PHI_IGAIN	{100}	feedback roll I gain
THETA_PGAIN	{400}	feedback pitch P gain
THETA_DGAIN	{300}	feedback pitch D gain
THETA_IGAIN	{100}	feedback pitch I gain
PSI_PGAIN	{380}	feedback yaw P gain
PSI_DGAIN	{320}	feedback yaw D gain
PSI_IGAIN	{100}	feedback yaw I gain
PHI_DDGAIN	{300}	feedforward roll acceleration gain
THETA_DDGAIN	{300}	feedforward pitch acceleration gain
PSI_DDGAIN	{300}	feedforward yaw acceleration gain

Depends