gain_scheduling.h File Reference

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

#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"

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Macros
#define	GAINS_SCHEDULING_H

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.

Macro Definition Documentation

#define GAINS_SCHEDULING_H

Definition at line 29 of file gain_scheduling.h.

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().