mirror of
https://github.com/paparazzi/paparazzi.git
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45 lines
2.9 KiB
XML
45 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gain_scheduling" dir="ctrl">
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<doc>
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<description>
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Gain set interpolation.
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Interpolate between different gain sets for rotorcrafts.
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</description>
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</doc>
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<settings>
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<dl_settings NAME="Gain scheduling">
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<dl_settings NAME="gain_set_1">
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<dl_setting var="gainlibrary[0].p.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_p"/>
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<dl_setting var="gainlibrary[0].i.x" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="phi_i"/>
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<dl_setting var="gainlibrary[0].d.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_d"/>
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<dl_setting var="gainlibrary[0].p.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_p"/>
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<dl_setting var="gainlibrary[0].i.y" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="theta_i"/>
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<dl_setting var="gainlibrary[0].d.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_d"/>
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<dl_setting var="gainlibrary[0].p.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_p"/>
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<dl_setting var="gainlibrary[0].i.z" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="psi_i"/>
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<dl_setting var="gainlibrary[0].d.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_d"/>
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</dl_settings>
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<dl_settings NAME="gain_set_2">
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<dl_setting var="gainlibrary[1].p.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_p"/>
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<dl_setting var="gainlibrary[1].i.x" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="phi_i"/>
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<dl_setting var="gainlibrary[1].d.x" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="phi_d"/>
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<dl_setting var="gainlibrary[1].p.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_p"/>
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<dl_setting var="gainlibrary[1].i.y" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="theta_i"/>
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<dl_setting var="gainlibrary[1].d.y" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="theta_d"/>
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<dl_setting var="gainlibrary[1].p.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_p"/>
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<dl_setting var="gainlibrary[1].i.z" min="0" step="1" max="1000" module="modules/ctrl/gain_scheduling" shortname="psi_i"/>
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<dl_setting var="gainlibrary[1].d.z" min="0" step="1" max="3000" module="modules/ctrl/gain_scheduling" shortname="psi_d"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="gain_scheduling.h"/>
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</header>
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<init fun="gain_scheduling_init()"/>
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<periodic fun="gain_scheduling_periodic()" freq="20"/>
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<makefile>
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<file name="gain_scheduling.c"/>
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</makefile>
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</module>
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