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

#include "modules/ctrl/gain_scheduling.h"
#include "math/pprz_algebra_int.h"
#include "modules/radio_control/radio_control.h"

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Macros
#define	SCHEDULING_VARIABLE_FRAC 0

#define	PHI_FFD {0}

#define	THETA_FFD {0}

#define	PSI_FFD {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

◆ INT32_RATIO_FRAC

#define INT32_RATIO_FRAC 12

Definition at line 53 of file gain_scheduling.c.

◆ PHI_FFD

#define PHI_FFD {0}

Definition at line 42 of file gain_scheduling.c.

◆ PSI_FFD

#define PSI_FFD {0}

Definition at line 50 of file gain_scheduling.c.

◆ SCHEDULING_VARIABLE_FRAC

#define SCHEDULING_VARIABLE_FRAC 0

Definition at line 37 of file gain_scheduling.c.

◆ THETA_FFD

#define THETA_FFD {0}

Definition at line 46 of file gain_scheduling.c.

Function Documentation

◆ gain_scheduling_init()

void gain_scheduling_init ( void )

Initialises periodic loop;.

Definition at line 60 of file gain_scheduling.c.

References gainlibrary, Int32AttitudeGains::i, PHI_FFD, PSI_FFD, stabilization_gains, and THETA_FFD.

◆ gain_scheduling_periodic()

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 95 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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◆ set_gainset()

void set_gainset ( int gainset )

Definition at line 144 of file gain_scheduling.c.

References gainlibrary, and stabilization_gains.

Referenced by gain_scheduling_periodic().

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Variable Documentation

◆ gainlibrary

struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]

Definition at line 1 of file gain_scheduling.c.

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

◆ scheduling_points

float scheduling_points[NUMBER_OF_GAINSETS] = SCHEDULING_POINTS

Definition at line 57 of file gain_scheduling.c.