ctrl_effectiveness_scheduling.c File Reference

#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"

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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...
void	ctrl_eff_scheduling_periodic_a (void)
void	ctrl_eff_scheduling_periodic_b (void)

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

ctrl_eff_scheduling_init()

void ctrl_eff_scheduling_init

(

void

)

Initialises periodic loop;.

Definition at line 52 of file ctrl_effectiveness_scheduling.c.

References g1g2_forward, g1g2_hover, g2_both, and INDI_G_SCALING.

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 70 of file ctrl_effectiveness_scheduling.c.

References actuator_state_filt_vect, Bwls, ctrl_eff_scheduling_periodic_a(), ctrl_eff_scheduling_periodic_b(), INDI_G_SCALING, radio_control, and RadioControl::values.

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ctrl_eff_scheduling_periodic_a()

void ctrl_eff_scheduling_periodic_a

(

void

)

Definition at line 94 of file ctrl_effectiveness_scheduling.c.

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

Referenced by ctrl_eff_scheduling_periodic().

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ctrl_eff_scheduling_periodic_b()

void ctrl_eff_scheduling_periodic_b

(

void

)

Definition at line 108 of file ctrl_effectiveness_scheduling.c.

References actuator_state_filt_vect, Indi_gains::att, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, g1g2_hover, indi_gains, FloatRates::q, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), and FloatEulers::theta.

Referenced by ctrl_eff_scheduling_periodic().

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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 41 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), and ctrl_eff_scheduling_periodic_a().

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 45 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init(), ctrl_eff_scheduling_periodic_a(), and ctrl_eff_scheduling_periodic_b().

g2_both

float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2

static

Definition at line 49 of file ctrl_effectiveness_scheduling.c.

Referenced by ctrl_eff_scheduling_init().