eff_scheduling_falcon.c File Reference

Interpolation of control effectivenss matrix of the Falcon hybrid plane. More...

#include "modules/ctrl/eff_scheduling_falcon.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "state.h"
#include "modules/datalink/downlink.h"

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Macros
#define	EFF_SCHEDULING_FALCON_LOW_AIRSPEED   8.0f

Functions
void	eff_scheduling_falcon_init (void)
void	eff_scheduling_falcon_periodic (void)
void	eff_scheduling_falcon_report (void)

Variables
static float	g1g2_hover [INDI_OUTPUTS][INDI_NUM_ACT]

Detailed Description

Interpolation of control effectivenss matrix of the Falcon hybrid plane.

Definition in file eff_scheduling_falcon.c.

Macro Definition Documentation

EFF_SCHEDULING_FALCON_LOW_AIRSPEED

#define EFF_SCHEDULING_FALCON_LOW_AIRSPEED   8.0f

Definition at line 35 of file eff_scheduling_falcon.c.

Function Documentation

eff_scheduling_falcon_init()

void eff_scheduling_falcon_init

(

void

)

Definition at line 49 of file eff_scheduling_falcon.c.

References g1g2, g1g2_hover, and INDI_G_SCALING.

eff_scheduling_falcon_periodic()

void eff_scheduling_falcon_periodic

(

void

)

Definition at line 58 of file eff_scheduling_falcon.c.

References EFF_SCHEDULING_FALCON_LOW_AIRSPEED, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, and yaw_eff.

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eff_scheduling_falcon_report()

void eff_scheduling_falcon_report

(

void

)

Definition at line 113 of file eff_scheduling_falcon.c.

References DefaultChannel, DefaultDevice, f, and g1g2.

Variable Documentation

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 41 of file eff_scheduling_falcon.c.

Referenced by eff_scheduling_falcon_init().