Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
ctrl_effectiveness_scheduling.c File Reference
+ Include dependency graph for ctrl_effectiveness_scheduling.c:

Go to the source code of this file.

Functions

void ctrl_eff_scheduling_init (void)
 Initialises periodic loop;. More...
 
void ctrl_eff_scheduling_periodic (void)
 Periodic function that interpolates between gain sets depending on the scheduling variable. More...
 
void ctrl_eff_scheduling_periodic_a (void)
 
void ctrl_eff_scheduling_periodic_b (void)
 

Variables

static float g1g2_forward [INDI_OUTPUTS][INDI_NUM_ACT]
 
static float g1g2_hover [INDI_OUTPUTS][INDI_NUM_ACT]
 
static float g2_both [INDI_NUM_ACT] = STABILIZATION_INDI_G2
 

Detailed Description

Module that interpolates gainsets in flight based on the transition percentage

Definition in file ctrl_effectiveness_scheduling.c.

Function Documentation

◆ ctrl_eff_scheduling_init()

void ctrl_eff_scheduling_init ( void  )

Initialises periodic loop;.

Definition at line 52 of file ctrl_effectiveness_scheduling.c.

References g1g2_forward, g1g2_hover, g2_both, and INDI_G_SCALING.

◆ ctrl_eff_scheduling_periodic()

void ctrl_eff_scheduling_periodic ( void  )

Periodic function that interpolates between gain sets depending on the scheduling variable.

Definition at line 70 of file ctrl_effectiveness_scheduling.c.

References actuator_state_filt_vect, Bwls, ctrl_eff_scheduling_periodic_a(), ctrl_eff_scheduling_periodic_b(), INDI_G_SCALING, radio_control, and RadioControl::values.

+ Here is the call graph for this function:

◆ ctrl_eff_scheduling_periodic_a()

void ctrl_eff_scheduling_periodic_a ( void  )

Definition at line 94 of file ctrl_effectiveness_scheduling.c.

References FLOAT_OF_BFP, g1g2, g1g2_forward, g1g2_hover, INT32_PERCENTAGE_FRAC, and transition_percentage.

Referenced by ctrl_eff_scheduling_periodic().

+ Here is the caller graph for this function:

◆ ctrl_eff_scheduling_periodic_b()

void ctrl_eff_scheduling_periodic_b ( void  )

Definition at line 108 of file ctrl_effectiveness_scheduling.c.

References actuator_state_filt_vect, Indi_gains::att, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, g1g2_hover, indi_gains, FloatRates::q, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), and FloatEulers::theta.

Referenced by ctrl_eff_scheduling_periodic().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

Variable Documentation

◆ g1g2_forward

float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT]
static
Initial value:
= {FWD_G1_ROLL,
FWD_G1_PITCH, FWD_G1_YAW, FWD_G1_THRUST
}

Definition at line 41 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), and ctrl_eff_scheduling_periodic_a().

◆ g1g2_hover

float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT]
static
Initial value:
= {STABILIZATION_INDI_G1_ROLL,
STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST
}

Definition at line 45 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), ctrl_eff_scheduling_periodic_a(), and ctrl_eff_scheduling_periodic_b().

◆ g2_both

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2
static

Definition at line 49 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init().