gain_scheduling.h File Reference

Module that interpolates between gain sets, depending on the scheduling variable. More...

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"

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

Variables
struct Int32AttitudeGains	gainlibrary [NUMBER_OF_GAINSETS]

Detailed Description

Module that interpolates between gain sets, depending on the scheduling variable.

Definition in file gain_scheduling.h.

Function Documentation

gain_scheduling_init()

void gain_scheduling_init ( void  )

extern

Initialises periodic loop;.

Definition at line 60 of file gain_scheduling.c.

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

gain_scheduling_periodic()

void gain_scheduling_periodic ( void  )

extern

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, foo, 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 foo, gainlibrary, and stabilization_gains.

Referenced by gain_scheduling_periodic().

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Variable Documentation

gainlibrary

struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]

extern

Definition at line 55 of file gain_scheduling.c.

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