Paparazzi UAS  v5.15_devel-105-g9de12e2
Paparazzi is a free software Unmanned Aircraft System.
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gain_scheduling.c File Reference

Module that interpolates gainsets in flight based on a scheduling variable. More...

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Macros

#define SCHEDULING_VARIABLE_FRAC   0
 
#define INT32_RATIO_FRAC   12
 

Functions

void gain_scheduling_init (void)
 Initialises periodic loop;. More...
 
void gain_scheduling_periodic (void)
 Periodic function that interpolates between gain sets depending on the scheduling variable. More...
 
void set_gainset (int gainset)
 

Variables

struct Int32AttitudeGains gainlibrary [NUMBER_OF_GAINSETS]
 
float scheduling_points [NUMBER_OF_GAINSETS] = SCHEDULING_POINTS
 

Detailed Description

Module that interpolates gainsets in flight based on a scheduling variable.

Definition in file gain_scheduling.c.

Macro Definition Documentation

#define INT32_RATIO_FRAC   12

Definition at line 41 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().

#define SCHEDULING_VARIABLE_FRAC   0

Definition at line 37 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().

Function Documentation

void gain_scheduling_init ( void  )

Initialises periodic loop;.

Definition at line 48 of file gain_scheduling.c.

References gainlibrary, Int32AttitudeGains::i, and stabilization_gains.

void gain_scheduling_periodic ( void  )

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

If the variable has not changed, keep the same gain set.

Definition at line 79 of file gain_scheduling.c.

References BFP_OF_REAL, FLOAT_OF_BFP, g1, g2, gainlibrary, Int32AttitudeGains::i, INT32_RATIO_FRAC, scheduling_points, SCHEDULING_VARIABLE_FRAC, set_gainset(), and stabilization_gains.

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void set_gainset ( int  gainset)

Definition at line 128 of file gain_scheduling.c.

References gainlibrary, and stabilization_gains.

Referenced by gain_scheduling_periodic().

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Variable Documentation

struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]

Definition at line 43 of file gain_scheduling.c.

Referenced by gain_scheduling_init(), gain_scheduling_periodic(), and set_gainset().

float scheduling_points[NUMBER_OF_GAINSETS] = SCHEDULING_POINTS

Definition at line 45 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().