File syn_flight_pid.h¶

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Zero-Heap 3-Axis Quadcopter Flight PID Stabilization & Motor Mixer. More...

#include "syntropic/common/syn_defs.h"
#include "syntropic/control/syn_pid.h"
#include "syntropic/util/syn_qmath.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Classes¶

Type	Name
struct	SYN_Flight_Commands
struct	SYN_Flight_Controller
struct	SYN_Flight_IMU
struct	SYN_Flight_MotorOutputs

Public Functions¶

Type	Name
SYN_Status	syn_flight_init (SYN_Flight_Controller * fc) Initialize 3-axis flight PID controller instance.
SYN_Status	syn_flight_update (SYN_Flight_Controller * fc, const SYN_Flight_IMU * imu, const SYN_Flight_Commands * cmd, uint32_t dt_ms, SYN_Flight_MotorOutputs * motors) Step 3-axis flight controller and compute Quad-X motor outputs.

Detailed Description¶

Architecture: * Cascaded Dual-Loop Control: * Outer Angle Loop: Desired angle (deg) -> Gyro Rate Setpoint (deg/s). * Inner Rate Loop: Gyro Rate Error -> Motor Axis Torque Output (Roll, Pitch, Yaw).

Quadcopter X-Configuration Motor Mixer:
Motor 1 (Front-Right, CCW): Throttle - Roll + Pitch + Yaw
Motor 2 (Rear-Right, CW): Throttle - Roll - Pitch - Yaw
Motor 3 (Rear-Left, CCW): Throttle + Roll - Pitch + Yaw
Motor 4 (Front-Left, CW): Throttle + Roll + Pitch - Yaw

All operations use Q16.16 fixed-point arithmetic. Zero float, zero heap.

Public Functions Documentation¶

function syn_flight_init¶

Initialize 3-axis flight PID controller instance.

SYN_Status syn_flight_init (
    SYN_Flight_Controller * fc
)

Parameters:

fc Pointer to flight controller struct.

Returns:

SYN_OK on success.

function syn_flight_update¶

Step 3-axis flight controller and compute Quad-X motor outputs.

SYN_Status syn_flight_update (
    SYN_Flight_Controller * fc,
    const SYN_Flight_IMU * imu,
    const SYN_Flight_Commands * cmd,
    uint32_t dt_ms,
    SYN_Flight_MotorOutputs * motors
)

Parameters:

fc Pointer to flight controller struct.
imu Pointer to IMU measurements.
cmd Pointer to pilot command inputs.
dt_ms Time step in milliseconds (e.g. 1ms = 1kHz loop).
motors Pointer to output motor commands struct.

Returns:

SYN_OK on success.

The documentation for this class was generated from the following file src/syntropic/control/syn_flight_pid.h