paparazzi/paparazzi — pull request #335 by EwoudSmeur (2012-11-28 05:14:56+00:00)
Title: Gain scheduling

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.