eff_scheduling_generic.c File Reference

Module that interpolates gainsets in flight based on the transition percentage. More...

#include "modules/ctrl/eff_scheduling_generic.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"

Include dependency graph for eff_scheduling_generic.c:

Go to the source code of this file.

Functions
void	eff_scheduling_generic_init (void)
	Initialises periodic loop;. More...
void	eff_scheduling_generic_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

Detailed Description

Module that interpolates gainsets in flight based on the transition percentage.

Definition in file eff_scheduling_generic.c.

Function Documentation

eff_scheduling_generic_init()

void eff_scheduling_generic_init

(

void

)

Initialises periodic loop;.

Definition at line 64 of file eff_scheduling_generic.c.

References g1g2_forward, g1g2_hover, g2_both, and INDI_G_SCALING.

eff_scheduling_generic_periodic()

void eff_scheduling_generic_periodic

(

void

)

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

Definition at line 82 of file eff_scheduling_generic.c.

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

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_generic.c.

Referenced by eff_scheduling_generic_init(), and eff_scheduling_generic_periodic().

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_generic.c.

Referenced by eff_scheduling_generic_init(), and eff_scheduling_generic_periodic().

g2_both

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2

static

Definition at line 62 of file eff_scheduling_generic.c.

Referenced by eff_scheduling_generic_init().