Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
eff_scheduling_cyfoam.c File Reference
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Functions

void eff_scheduling_cyfoam_init (void)
 Initialises periodic loop;. More...
 
static void eff_scheduling_periodic_a (void)
 
static void eff_scheduling_periodic_b (void)
 
void eff_scheduling_cyfoam_periodic (void)
 Periodic function that interpolates between gain sets depending on the scheduling variable. More...
 

Variables

static float g1g2_forward [INDI_OUTPUTS][INDI_NUM_ACT]
 
static float g1g2_hover [INDI_OUTPUTS][INDI_NUM_ACT]
 
static float g2_both [INDI_NUM_ACT] = STABILIZATION_INDI_G2
 

Function Documentation

◆ eff_scheduling_cyfoam_init()

void eff_scheduling_cyfoam_init ( void  )

Initialises periodic loop;.

Definition at line 64 of file eff_scheduling_cyfoam.c.

References g1g2_forward, g1g2_hover, g2_both, and INDI_G_SCALING.

◆ eff_scheduling_cyfoam_periodic()

void eff_scheduling_cyfoam_periodic ( void  )

Periodic function that interpolates between gain sets depending on the scheduling variable.

Definition at line 138 of file eff_scheduling_cyfoam.c.

References actuator_state_filt_vect, Bwls, eff_scheduling_periodic_a(), eff_scheduling_periodic_b(), INDI_G_SCALING, radio_control, and RadioControl::values.

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◆ eff_scheduling_periodic_a()

static void eff_scheduling_periodic_a ( void  )
static

Definition at line 82 of file eff_scheduling_cyfoam.c.

References g1g2, g1g2_forward, g1g2_hover, stabilization, and Stabilization::transition_ratio.

Referenced by eff_scheduling_cyfoam_periodic().

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◆ eff_scheduling_periodic_b()

static void eff_scheduling_periodic_b ( void  )
static

Definition at line 94 of file eff_scheduling_cyfoam.c.

References actuator_state_filt_vect, Indi_gains::att, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, g1g2_hover, indi_gains, FloatRates::q, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, and yaw_eff.

Referenced by eff_scheduling_cyfoam_periodic().

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Variable Documentation

◆ g1g2_forward

float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT]
static
Initial value:
= {
FWD_G1_ROLL,
FWD_G1_PITCH,
FWD_G1_YAW,
FWD_G1_THRUST
}

Definition at line 43 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init(), and eff_scheduling_periodic_a().

◆ g1g2_hover

float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT]
static
Initial value:
= {
STABILIZATION_INDI_G1_ROLL,
STABILIZATION_INDI_G1_PITCH,
STABILIZATION_INDI_G1_YAW,
STABILIZATION_INDI_G1_THRUST
}

Definition at line 54 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init(), eff_scheduling_periodic_a(), and eff_scheduling_periodic_b().

◆ g2_both

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2
static

Definition at line 62 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init().