Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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gain_scheduling.h
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1 /*
2  * Copyright (C) 2012 Pranay Sinha <psinha@transition-robotics.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef GAIN_SCHEDULING_H
29 #define GAINS_SCHEDULING_H
30 
31 #include "generated/airframe.h"
32 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_int.h"
33 
34 extern struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS];
35 
39 extern void gain_scheduling_init(void);
40 
45 extern void gain_scheduling_periodic(void);
46 
47 void set_gainset(int gainset);
48 
49 #endif /* GAIN_SCHEDULING_H */
50 
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...
struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]
void set_gainset(int gainset)