gain_scheduling module

Gain set interpolation.

Interpolate between different gain sets for rotorcrafts.

Example for airframe file

Add to your firmware section:

<module name="gain_scheduling"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• gain_scheduling_init()

Periodic Functions

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

• gain_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

• gain_scheduling.h

Source Files

• modules/ctrl/gain_scheduling.c

Raw gain_scheduling.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="gain_scheduling" dir="ctrl">
  <doc>
    <description>
      Gain set interpolation.
      Interpolate between different gain sets for rotorcrafts.
    </description>
  </doc>
<settings>
  <dl_settings NAME="Gain scheduling">
    <dl_settings NAME="gain_set_1">
      <dl_setting var="gainlibrary[0].p.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_p"/>
      <dl_setting var="gainlibrary[0].i.x" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="phi_i"/>
      <dl_setting var="gainlibrary[0].d.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_d"/>
      <dl_setting var="gainlibrary[0].p.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_p"/>
      <dl_setting var="gainlibrary[0].i.y" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="theta_i"/>
      <dl_setting var="gainlibrary[0].d.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_d"/>
      <dl_setting var="gainlibrary[0].p.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_p"/>
      <dl_setting var="gainlibrary[0].i.z" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="psi_i"/>
      <dl_setting var="gainlibrary[0].d.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_d"/>
    </dl_settings>
    <dl_settings NAME="gain_set_2">
      <dl_setting var="gainlibrary[1].p.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_p"/>
      <dl_setting var="gainlibrary[1].i.x" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="phi_i"/>
      <dl_setting var="gainlibrary[1].d.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_d"/>
      <dl_setting var="gainlibrary[1].p.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_p"/>
      <dl_setting var="gainlibrary[1].i.y" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="theta_i"/>
      <dl_setting var="gainlibrary[1].d.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_d"/>
      <dl_setting var="gainlibrary[1].p.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_p"/>
      <dl_setting var="gainlibrary[1].i.z" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="psi_i"/>
      <dl_setting var="gainlibrary[1].d.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_d"/>
    </dl_settings>
  </dl_settings>
</settings>
  <header>
    <file name="gain_scheduling.h"/>
  </header>
  <init fun="gain_scheduling_init()"/>
  <periodic fun="gain_scheduling_periodic()" freq="20"/>
  <makefile>
    <file name="gain_scheduling.c"/>
  </makefile>
</module>