30 #include "generated/airframe.h"
32 #define INDI_SCHEDULING_LOWER_BOUND_G1 0.0001
36 static float g_forward[3] = {STABILIZATION_INDI_FORWARD_G1_P, STABILIZATION_INDI_FORWARD_G1_Q, STABILIZATION_INDI_FORWARD_G1_R};
38 static float g_hover[3] = {STABILIZATION_INDI_G1_P, STABILIZATION_INDI_G1_Q, STABILIZATION_INDI_G1_R};
79 float ratio_spec_force = 0.0;
81 Bound(airspeed, 8.0, 20.0);
82 ratio_spec_force = (airspeed-8.0) / 12.0;
84 + GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD * ratio_spec_force;