stabilization_indi_hinf module

Hinfinity controller for INDI stabilization outer loop

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="stabilization_indi_hinf"/>

Module configuration options

Airframe file section

• section name: STABILIZATION_ATTITUDE_INDI_HINF prefix: STABILIZATION_INDI_HINF_
  • name Ap value: x
    Description: proportional A coef
  • name Bp value: x
    Description: proportional B coef
  • name Cp value: x
    Description: proportional C coef
  • name Dp value: x
    Description: proportional D coef
  • name Ad value: x
    Description: derivative A coef
  • name Bd value: x
    Description: derivative B coef
  • name Cd value: x
    Description: derivative C coef
  • name Dd value: x
    Description: derivative D coef

Files

Source Files

• /stabilization/stabilization_indi_hinf.c

Raw stabilization_indi_hinf.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="stabilization_indi_hinf" dir="stabilization" task="control">
  <doc>
    <description>
      Hinfinity controller for INDI stabilization outer loop
    </description>
 
    <section name="STABILIZATION_ATTITUDE_INDI_HINF" prefix="STABILIZATION_INDI_HINF_">
      <define name="Ap" value="x" description="proportional A coef"/>
      <define name="Bp" value="x" description="proportional B coef"/>
      <define name="Cp" value="x" description="proportional C coef"/>
      <define name="Dp" value="x" description="proportional D coef"/>
      <define name="Ad" value="x" description="derivative A coef"/>
      <define name="Bd" value="x" description="derivative B coef"/>
      <define name="Cd" value="x" description="derivative C coef"/>
      <define name="Dd" value="x" description="derivative D coef"/>
    </section>
  </doc>
  <dep>
    <depends>stabilization_indi</depends>
  </dep>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="stabilization_indi_hinf.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <test firmware="rotorcraft">
      <define name="INDI_OUTPUTS" value="4"/>
      <define name="INDI_NUM_ACT" value="4"/>
    </test>
  </makefile>
</module>