Commit 597247c2 authored by Ian McInerney's avatar Ian McInerney

Static gain state feedback controller

parent 7e63efd1
......@@ -28,7 +28,8 @@ SENSORS ?= stock
ESTIMATOR ?= complementary
COMPUTATION ?= localization
#CONTROLLER ?= pid
CONTROLLER ?= lqi
#CONTROLLER ?= lqi
CONTROLLER ?= sgsf
POWER_DISTRIBUTION ?= stock
LPS_TDMA_ENABLE = 1
......
......@@ -39,7 +39,8 @@ enum STATE_CONTROLLER_TYPE {
CONTROLLER_BYPASS = 0,
CONTROLLER_PID = 1,
CONTROLLER_LQR = 2,
CONTROLLER_LQI = 3
CONTROLLER_LQI = 3,
CONTROLLER_SGSF = 4
};
extern const int stateControllerType;
......
#ifndef CONTROLLER_SGSF_H_
#define CONTROLLER_SGSF_H_
enum CONTROLLER_SGSF_OPCODES {
CONT_SGSF_UPDATE_GAINS = 0,
CONT_SGSF_RETRIEVE_GAINS,
};
typedef struct CONTROLLER_SGSF_GAINS {
uint8_t state;
float ut;
float ua;
float ue;
float ur;
} __attribute__((packed)) CONTROLLER_SGSF_GAINS;
#endif
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