eff_scheduling_generic.c

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/*
 * Copyright (C) 2017 Ewoud Smeur <ewoud_smeur@msn.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#include "modules/ctrl/eff_scheduling_generic.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "generated/airframe.h"
#include "state.h"
#include "modules/radio_control/radio_control.h"
 
#if STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
#error "You need to use WLS control allocation for this module"
#endif
 
#ifndef INDI_FUNCTIONS_RC_CHANNEL
#error "You need to define an RC channel to switch between simple and advanced scheduling"
#endif
 
#ifdef FWD_G1
static float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT] = FWD_G1;
#else
static float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT] = {
  FWD_G1_ROLL,
  FWD_G1_PITCH,
  FWD_G1_YAW,
  FWD_G1_THRUST
};
#endif
 
#ifdef STABILIZATION_INDI_G1
static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = STABILIZATION_INDI_G1;
#else
static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = {
  STABILIZATION_INDI_G1_ROLL,
  STABILIZATION_INDI_G1_PITCH,
  STABILIZATION_INDI_G1_YAW,
  STABILIZATION_INDI_G1_THRUST
};
#endif
 
static float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2; //scaled by INDI_G_SCALING
 
void eff_scheduling_generic_init(void)
{
  //sum of G1 and G2
  int8_t i;
  int8_t j;
  for (i = 0; i < INDI_OUTPUTS; i++) {
    for (j = 0; j < INDI_NUM_ACT; j++) {
      if (i != 2) {
        g1g2_hover[i][j] = g1g2_hover[i][j] / INDI_G_SCALING;
        g1g2_forward[i][j] = g1g2_forward[i][j] / INDI_G_SCALING;
      } else {
        g1g2_forward[i][j] = (g1g2_forward[i][j] + g2_both[j]) / INDI_G_SCALING;
        g1g2_hover[i][j] = (g1g2_hover[i][j] + g2_both[j]) / INDI_G_SCALING;
      }
    }
  }
}
 
void eff_scheduling_generic_periodic(void)
{
  int8_t i;
  int8_t j;
  const float ratio = stabilization.transition_ratio;
  for (i = 0; i < INDI_OUTPUTS; i++) {
    for (j = 0; j < INDI_NUM_ACT; j++) {
      g1g2[i][j] = g1g2_hover[i][j] * (1.0 - ratio) + g1g2_forward[i][j] * ratio;
    }
  }
}