Gain scheduling #335
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Gain scheduling #335
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I don't think it is necessary (and desirable) to add a new type of node in the airframe definition and parser since it is only producing defines. Using the existing "section" and "define" nodes is enough. |
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Good point, I took it out. However, if anyone would like features such as checking of every gain type has the same number of gains, I think you would need such a node. |
| <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> | ||
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| <!-- setpoints --> | ||
| <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/> |
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please use value="45" unit="deg" instead of RadOfDeg
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I implemented gain scheduling as a non-obtrusive module. It can be completely disabled by not loading the module. I included an example of how to specify multiple gain sets in airframes/esden/gain_scheduling_example.xml. I made it configurable, so the user can specify on which variable to schedule and any number of gain sets is supported.
The module runs at 20 Hz, which should be high enough for all applications.
With this module enabled, in air tuning is not possible any more, because the module will immediately overwrite the set gains. This should be changed in the future so that you edit the gains in the gainlibrary instead of the the active gains.