scheduling_indi_simple module

Interpolation of control effectivenss matrix.

This is necessary if the vehicle has different operating points, with significantly different control effectivenss.

If instead using online adaptation is an option, be sure to not use this module at the same time!

Example for airframe file

Add to your firmware section:

<module name="scheduling_indi_simple"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ctrl_eff_scheduling_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• ctrl_eff_scheduling_periodic()
  • Frequency in Hz: 20
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• scheduling_indi_simple.h

Source Files

• modules/ctrl/scheduling_indi_simple.c

Raw scheduling_indi_simple.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="scheduling_indi_simple" dir="ctrl">
  <doc>
    <description>
      Interpolation of control effectivenss matrix.
      This is necessary if the vehicle has different operating points,
      with significantly different control effectivenss. 
      
      If instead using online adaptation is an option, be sure to 
      not use this module at the same time!
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="scheduling">
        <dl_setting var="use_scheduling" min="0" step="1" max="1" shortname="enable" persistent="true" module="ctrl/scheduling_indi_simple"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="scheduling_indi_simple.h"/>
  </header>
  <init fun="ctrl_eff_scheduling_init()"/>
  <periodic fun="ctrl_eff_scheduling_periodic()" freq="20"/>
  <makefile>
    <file name="scheduling_indi_simple.c"/>
  </makefile>
</module>