% Generate transfer functions for loop shaping stability (uncertainty)
% requirements from parameters specified in uav_params.m
%
% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
% This work is distributed under a permissive license, see LICENSE.txt
%
% Arguments:
%   PARAMS  Struct of design parameters and constants generated by uav_params
%   PLOT    When set to 'true' it plots the inverse magnitude of the
%           performance transfer function
%
% Return value:
%   UNCERT  Struct of uncertainty transfer functions


function [uncert] = uav_performance(params, plot)

W_malpha = tf(1,1);
W_momega = tf(1,1);
W_mState = tf(1,1);

uncert = struct(...
  'FlapAngle', W_malpha * eye(4), ...
  'Thrust', W_momega, ...
  'StateLinApprox', W_mState * eye(12));

end
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