gain_scheduling.c File Reference

Module that interpolates gainsets in flight based on a scheduling variable. More...

#include "modules/ctrl/gain_scheduling.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "math/pprz_algebra_int.h"

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Macros
#define	SCHEDULING_VARIABLE_FRAC   0
#define	INT32_RATIO_FRAC   12

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]
float	scheduling_points [NUMBER_OF_GAINSETS] = SCHEDULING_POINTS

Detailed Description

Module that interpolates gainsets in flight based on a scheduling variable.

Definition in file gain_scheduling.c.

Macro Definition Documentation

#define INT32_RATIO_FRAC   12

Definition at line 44 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().

#define SCHEDULING_VARIABLE_FRAC   0

Definition at line 40 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().

Function Documentation

void gain_scheduling_init

(

void

)

Initialises periodic loop;.

Definition at line 51 of file gain_scheduling.c.

References gainlibrary, Int32AttitudeGains::i, and stabilization_gains.

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 82 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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void set_gainset

(

int

gainset

)

Definition at line 131 of file gain_scheduling.c.

References gainlibrary, and stabilization_gains.

Referenced by gain_scheduling_periodic().

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Variable Documentation

struct Int32AttitudeGains gainlibrary[NUMBER_OF_GAINSETS]

Definition at line 46 of file gain_scheduling.c.

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

float scheduling_points[NUMBER_OF_GAINSETS] = SCHEDULING_POINTS

Definition at line 48 of file gain_scheduling.c.

Referenced by gain_scheduling_periodic().