ctrl_module_innerloop_demo.c File Reference

example empty controller More...

#include "modules/ctrl/ctrl_module_innerloop_demo.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"
#include "generated/radio.h"
#include "firmwares/rotorcraft/stabilization.h"

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Data Structures
struct	ctrl_module_demo_struct

Functions
void	ctrl_module_init (void)
static void	ctrl_module_run (bool in_flight)
void	guidance_module_enter (void)
void	guidance_module_run (bool in_flight)

Variables
struct ctrl_module_demo_struct	ctrl_module_demo
float	ctrl_module_demo_pr_ff_gain = 0.2f
float	ctrl_module_demo_pr_d_gain = 0.1f
float	ctrl_module_demo_y_ff_gain = 0.4f
float	ctrl_module_demo_y_d_gain = 0.05f

Detailed Description

example empty controller

Implements an example simple rate controller in a module.

Definition in file ctrl_module_innerloop_demo.c.

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Data Structure Documentation

ctrl_module_demo_struct

struct ctrl_module_demo_struct

Definition at line 33 of file ctrl_module_innerloop_demo.c.

Collaboration diagram for ctrl_module_demo_struct:

Data Fields
struct Int32Eulers	cmd
struct AttitudeRCInput	rc_sp
int	rc_t
int	rc_x
int	rc_y
int	rc_z

Function Documentation

ctrl_module_init()

void ctrl_module_init

(

void

)

Definition at line 46 of file ctrl_module_innerloop_demo.c.

References ctrl_module_demo, ctrl_module_demo_struct::rc_t, ctrl_module_demo_struct::rc_x, ctrl_module_demo_struct::rc_y, and ctrl_module_demo_struct::rc_z.

Referenced by guidance_module_enter().

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ctrl_module_run()

static void ctrl_module_run ( bool  in_flight )

static

Definition at line 55 of file ctrl_module_innerloop_demo.c.

References Stabilization::cmd, ctrl_module_demo, ctrl_module_demo_pr_d_gain, ctrl_module_demo_pr_ff_gain, ctrl_module_demo_y_d_gain, ctrl_module_demo_y_ff_gain, Int32Rates::p, Int32Rates::q, Int32Rates::r, ctrl_module_demo_struct::rc_t, ctrl_module_demo_struct::rc_x, ctrl_module_demo_struct::rc_y, ctrl_module_demo_struct::rc_z, stabilization, and stateGetBodyRates_i().

Referenced by guidance_module_run().

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guidance_module_enter()

void guidance_module_enter

(

void

)

Definition at line 77 of file ctrl_module_innerloop_demo.c.

References ctrl_module_init().

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guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Definition at line 82 of file ctrl_module_innerloop_demo.c.

References ctrl_module_demo, ctrl_module_run(), radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, ctrl_module_demo_struct::rc_t, ctrl_module_demo_struct::rc_x, ctrl_module_demo_struct::rc_y, ctrl_module_demo_struct::rc_z, and RadioControl::values.

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Variable Documentation

ctrl_module_demo

struct ctrl_module_demo_struct ctrl_module_demo

Referenced by ctrl_module_init(), ctrl_module_run(), and guidance_module_run().

ctrl_module_demo_pr_d_gain

float ctrl_module_demo_pr_d_gain = 0.1f

Definition at line 42 of file ctrl_module_innerloop_demo.c.

Referenced by ctrl_module_run().

ctrl_module_demo_pr_ff_gain

float ctrl_module_demo_pr_ff_gain = 0.2f

Definition at line 41 of file ctrl_module_innerloop_demo.c.

Referenced by ctrl_module_run().

ctrl_module_demo_y_d_gain

float ctrl_module_demo_y_d_gain = 0.05f

Definition at line 44 of file ctrl_module_innerloop_demo.c.

Referenced by ctrl_module_run().

ctrl_module_demo_y_ff_gain

float ctrl_module_demo_y_ff_gain = 0.4f

Definition at line 43 of file ctrl_module_innerloop_demo.c.

Referenced by ctrl_module_run().