guidance_indi_hinf module

Hinfinity controller for INDI guidance outer loop

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_indi_hinf"/>

Module configuration options

Airframe file section

• section name: GUIDANCE_INDI_HINF prefix: GUIDANCE_INDI_HINF_
  • name Ap value: x
    Description: proportional A coef (horizontal)
  • name Bp value: x
    Description: proportional B coef (horizontal)
  • name Cp value: x
    Description: proportional C coef (horizontal)
  • name Dp value: x
    Description: proportional D coef (horizontal)
  • name Ad value: x
    Description: derivative A coef (horizontal)
  • name Bd value: x
    Description: derivative B coef (horizontal)
  • name Cd value: x
    Description: derivative C coef (horizontal)
  • name Dd value: x
    Description: derivative D coef (horizontal)
  • name Apz value: x
    Description: proportional A coef (vertical)
  • name Bpz value: x
    Description: proportional B coef (vertical)
  • name Cpz value: x
    Description: proportional C coef (vertical)
  • name Dpz value: x
    Description: proportional D coef (vertical)
  • name Adz value: x
    Description: derivative A coef (vertical)
  • name Bdz value: x
    Description: derivative B coef (vertical)
  • name Cdz value: x
    Description: derivative C coef (vertical)
  • name Ddz value: x
    Description: derivative D coef (vertical)

Files

Source Files

• /guidance/guidance_indi_hinf.c

Raw guidance_indi_hinf.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi_hinf" dir="guidance" task="control">
  <doc>
    <description>
      Hinfinity controller for INDI guidance outer loop
    </description>
 
    <section name="GUIDANCE_INDI_HINF" prefix="GUIDANCE_INDI_HINF_">
      <define name="Ap" value="x" description="proportional A coef (horizontal)"/>
      <define name="Bp" value="x" description="proportional B coef (horizontal)"/>
      <define name="Cp" value="x" description="proportional C coef (horizontal)"/>
      <define name="Dp" value="x" description="proportional D coef (horizontal)"/>
      <define name="Ad" value="x" description="derivative A coef (horizontal)"/>
      <define name="Bd" value="x" description="derivative B coef (horizontal)"/>
      <define name="Cd" value="x" description="derivative C coef (horizontal)"/>
      <define name="Dd" value="x" description="derivative D coef (horizontal)"/>
      <define name="Apz" value="x" description="proportional A coef (vertical)"/>
      <define name="Bpz" value="x" description="proportional B coef (vertical)"/>
      <define name="Cpz" value="x" description="proportional C coef (vertical)"/>
      <define name="Dpz" value="x" description="proportional D coef (vertical)"/>
      <define name="Adz" value="x" description="derivative A coef (vertical)"/>
      <define name="Bdz" value="x" description="derivative B coef (vertical)"/>
      <define name="Cdz" value="x" description="derivative C coef (vertical)"/>
      <define name="Ddz" value="x" description="derivative D coef (vertical)"/>
    </section>
  </doc>
  <dep>
    <depends>guidance_indi</depends>
  </dep>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_indi_hinf.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <test firmware="rotorcraft"/>
  </makefile>
</module>