scheduling_indi_simple.c File Reference

#include "modules/ctrl/scheduling_indi_simple.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi_simple.h"
#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "generated/airframe.h"
#include "state.h"

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Macros
#define	INDI_SCHEDULING_LOWER_BOUND_G1   0.0001

Functions
void	ctrl_eff_scheduling_init (void)
	Initialises periodic loop;. More...
void	ctrl_eff_scheduling_periodic (void)
	Periodic function that interpolates between gain sets depending on the scheduling variable. More...

Variables
int32_t	use_scheduling = 1
static float	g_forward [3] = {STABILIZATION_INDI_FORWARD_G1_P, STABILIZATION_INDI_FORWARD_G1_Q, STABILIZATION_INDI_FORWARD_G1_R}
static float	g_hover [3] = {STABILIZATION_INDI_G1_P, STABILIZATION_INDI_G1_Q, STABILIZATION_INDI_G1_R}

Macro Definition Documentation

INDI_SCHEDULING_LOWER_BOUND_G1

#define INDI_SCHEDULING_LOWER_BOUND_G1   0.0001

Definition at line 32 of file scheduling_indi_simple.c.

Function Documentation

ctrl_eff_scheduling_init()

void ctrl_eff_scheduling_init

(

void

)

Initialises periodic loop;.

Definition at line 41 of file scheduling_indi_simple.c.

ctrl_eff_scheduling_periodic()

void ctrl_eff_scheduling_periodic

(

void

)

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

Definition at line 45 of file scheduling_indi_simple.c.

References IndiVariables::g1, g_forward, g_hover, guidance_indi_specific_force_gain, indi, INDI_SCHEDULING_LOWER_BOUND_G1, FloatRates::p, FloatRates::q, FloatRates::r, stateGetAirspeed_f(), stateGetNedToBodyEulers_f(), and use_scheduling.

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Variable Documentation

g_forward

float g_forward[3] = {STABILIZATION_INDI_FORWARD_G1_P, STABILIZATION_INDI_FORWARD_G1_Q, STABILIZATION_INDI_FORWARD_G1_R}

static

Definition at line 36 of file scheduling_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic().

g_hover

float g_hover[3] = {STABILIZATION_INDI_G1_P, STABILIZATION_INDI_G1_Q, STABILIZATION_INDI_G1_R}

static

Definition at line 38 of file scheduling_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic().

use_scheduling

int32_t use_scheduling = 1

Definition at line 34 of file scheduling_indi_simple.c.

Referenced by ctrl_eff_scheduling_periodic().