controls.pde File Reference

Contains all controls functions for feedback and inner loop control. More...

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Functions
void	THR_control (float dt)
void	RUD_control (float dt)
void	throttle_mixing (void)
void	perturb (void)

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Detailed Description

Contains all controls functions for feedback and inner loop control.

Author:

Michael Posner (CIS, MEAM '12)

Timothy Hennelly (ESE '12)

Jacob Orloff (MEAM '12)

Definition in file controls.pde.

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Function Documentation

void perturb

(

void

)

Perturbation routine that periodically adds step inputs to rudder, elevator, etc. Data collected from the results can be used to validate the simulation model.

Definition at line 197 of file controls.pde.

void RUD_control

(

float

dt

)

Definition at line 79 of file controls.pde.

void THR_control

(

float

dt

)

PID control on roll angle

Parameters:

dt	the time elapsed since the last call (for integration)

Definition at line 43 of file controls.pde.

void throttle_mixing

(

void

)

Add elevator Add rudder based on roll (bank) angle (phi). Add rudder based on current throttle position to offset the additional motor torque caused by an increase in throttle.

Definition at line 173 of file controls.pde.