eff_scheduling_cyfoam.c File Reference

#include "modules/ctrl/eff_scheduling_cyfoam.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "generated/airframe.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"

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Functions
void	eff_scheduling_cyfoam_init (void)
	Initialises periodic loop;. More...
static void	eff_scheduling_periodic_a (void)
static void	eff_scheduling_periodic_b (void)
void	eff_scheduling_cyfoam_periodic (void)
	Periodic function that interpolates between gain sets depending on the scheduling variable. More...

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

Function Documentation

eff_scheduling_cyfoam_init()

void eff_scheduling_cyfoam_init

(

void

)

Initialises periodic loop;.

Definition at line 64 of file eff_scheduling_cyfoam.c.

References g1g2_forward, g1g2_hover, g2_both, and INDI_G_SCALING.

eff_scheduling_cyfoam_periodic()

void eff_scheduling_cyfoam_periodic

(

void

)

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

Definition at line 140 of file eff_scheduling_cyfoam.c.

References actuator_state_filt_vect, Bwls, eff_scheduling_periodic_a(), eff_scheduling_periodic_b(), INDI_G_SCALING, radio_control, and RadioControl::values.

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eff_scheduling_periodic_a()

static void eff_scheduling_periodic_a ( void  )

static

Definition at line 82 of file eff_scheduling_cyfoam.c.

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

Referenced by eff_scheduling_cyfoam_periodic().

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eff_scheduling_periodic_b()

static void eff_scheduling_periodic_b ( void  )

static

Definition at line 96 of file eff_scheduling_cyfoam.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 eff_scheduling_cyfoam_periodic().

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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 43 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init(), and 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 54 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init(), eff_scheduling_periodic_a(), and eff_scheduling_periodic_b().

g2_both

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2

static

Definition at line 62 of file eff_scheduling_cyfoam.c.

Referenced by eff_scheduling_cyfoam_init().