Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
gain_scheduling.h File Reference
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Functions

void gain_scheduling_init (void)
 Initialises periodic loop;. More...
 
void gain_scheduling_periodic (void)
 Periodic function that interpolates between gain sets depending on the scheduling variable. More...
 
void set_gainset (int gainset)
 

Variables

struct Int32AttitudeGains gainlibrary [NUMBER_OF_GAINSETS]
 

Detailed Description

Module that interpolates between gain sets, depending on the scheduling variable.

Definition in file gain_scheduling.h.

Function Documentation

◆ gain_scheduling_init()

void gain_scheduling_init ( void  )

Initialises periodic loop;.

Definition at line 60 of file gain_scheduling.c.

References gainlibrary, Int32AttitudeGains::i, PHI_FFD, PSI_FFD, stabilization_gains, and THETA_FFD.

◆ gain_scheduling_periodic()

void gain_scheduling_periodic ( void  )

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

If the variable has not changed, keep the same gain set.

Definition at line 95 of file gain_scheduling.c.

References BFP_OF_REAL, FLOAT_OF_BFP, g1, g2, gainlibrary, Int32AttitudeGains::i, INT32_RATIO_FRAC, scheduling_points, SCHEDULING_VARIABLE_FRAC, set_gainset(), and stabilization_gains.

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◆ set_gainset()

void set_gainset ( int  gainset)

Definition at line 144 of file gain_scheduling.c.

References gainlibrary, and stabilization_gains.

Referenced by gain_scheduling_periodic().

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Variable Documentation

◆ gainlibrary

struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]

Definition at line 55 of file gain_scheduling.c.

Referenced by gain_scheduling_init(), gain_scheduling_periodic(), and set_gainset().