ctrl_module_innerloop_demo module

Demo Control Module.

Only for rotorcraft firmware. Simple rate controler as example on how to integrate write and call your own controller in a module.

Example for airframe file

Add to your firmware section:

<module name="ctrl_module_innerloop_demo"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ctrl_module_init()

Files

Header Files

The following headers are automatically included in modules.h

• ctrl_module_innerloop_demo.h

Source Files

• modules/ctrl/ctrl_module_innerloop_demo.c

Raw ctrl_module_innerloop_demo.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="ctrl_module_innerloop_demo" dir="ctrl">
  <doc>
    <description>
        Demo Control Module.
        Only for rotorcraft firmware.
        Simple rate controler as example on how to integrate write and call your own controller in a module.
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="CtrlModDemo">
        <dl_setting var="ctrl_module_demo_pr_ff_gain" min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="pr_ff"/>
        <dl_setting var="ctrl_module_demo_pr_d_gain"  min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="pr_d"/>
        <dl_setting var="ctrl_module_demo_y_ff_gain"  min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="y_ff"/>
        <dl_setting var="ctrl_module_demo_y_d_gain"   min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="y_d"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <header>
    <file name="ctrl_module_innerloop_demo.h"/>
  </header>
  <init fun="ctrl_module_init()"/>
 
  <makefile>
    <file name="ctrl_module_innerloop_demo.c"/>
    <test/>
  </makefile>
 
</module>