control_hooks.h File Reference

Control hook points, already called by the estimation task at the right rates. More...

#include <stdint.h>

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Data Structures
struct	ctrl_rate_in_t
struct	ctrl_att_in_t

Functions
void	ctrl_init (void)
void	ctrl_rate_step (const ctrl_rate_in_t *in)
	960 Hz
void	ctrl_attitude_step (const ctrl_att_in_t *in)
	240 Hz

Detailed Description

Control hook points, already called by the estimation task at the right rates.

In phase 1 they are empty ("weak" definitions in control_hooks.c): to add control, just redefine them, without touching the task or the estimator.

Order within a 960 Hz step (see app_main.c): IEKF propagation -> ctrl_rate_step() -> [every 4 steps] acc update -> ctrl_attitude_step() -> [when available] mag update ctrl_rate_step() runs right after the propagation, before the corrections, to minimise the gyro -> motors latency.

Definition in file control_hooks.h.

Function Documentation

ctrl_init()

void ctrl_init

(

void

)

Definition at line 7 of file control_hooks.c.

Referenced by ImuTask().

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ctrl_rate_step()

void ctrl_rate_step

(

const ctrl_rate_in_t *

in

)

960 Hz

Definition at line 8 of file control_hooks.c.

Referenced by on_step().

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ctrl_attitude_step()

void ctrl_attitude_step

(

const ctrl_att_in_t *

in

)

240 Hz

Definition at line 9 of file control_hooks.c.

Referenced by on_acc_window().

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