gain_scheduling module

Gain set interpolation.

Interpolate between different gain sets for rotorcrafts.

Example for airframe file

Add to your firmware section:

<module name="gain_scheduling"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• gain_scheduling_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• gain_scheduling_periodic()
  • Frequency in Hz: 20
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• gain_scheduling.h

Source Files

• modules/ctrl/gain_scheduling.c

Raw gain_scheduling.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="gain_scheduling" dir="ctrl">
  <doc>
    <description>
      Gain set interpolation.
      Interpolate between different gain sets for rotorcrafts.
    </description>
  </doc>
  <header>
    <file name="gain_scheduling.h"/>
  </header>
  <init fun="gain_scheduling_init()"/>
  <periodic fun="gain_scheduling_periodic()" freq="20"/>
  <makefile>
    <file name="gain_scheduling.c"/>
  </makefile>
</module>