ctrl_effectiveness_scheduling.c File Reference

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

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

Include dependency graph for ctrl_effectiveness_scheduling.c:

Go to the source code of this file.

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
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 ctrl_effectiveness_scheduling.c.

Function Documentation

void ctrl_eff_scheduling_init

(

void

)

Initialises periodic loop;.

Definition at line 49 of file ctrl_effectiveness_scheduling.c.

References g1g2_forward, g1g2_hover, g2_both, INDI_G_SCALING, INDI_NUM_ACT, and INDI_OUTPUTS.

void ctrl_eff_scheduling_periodic

(

void

)

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

Definition at line 67 of file ctrl_effectiveness_scheduling.c.

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

Variable Documentation

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 38 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), and ctrl_eff_scheduling_periodic().

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 42 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), and ctrl_eff_scheduling_periodic().

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2

static

Definition at line 46 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init().