#include "modules/ctrl/eff_scheduling_nederdrone.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "state.h"
#include "autopilot.h"
#include "modules/radio_control/radio_control.h"
#include "modules/actuators/actuators.h"

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Macros
#define	INDI_SCHEDULING_LOWER_BOUND_G1 0.0001

#define	INDI_SCHEDULING_LOW_AIRSPEED 12.0

#define	INDI_SCHEDULING_TRIM_ELEVATOR 0.0

#define	INDI_SCHEDULING_TRIM_FLAPS 0.0

Functions
void	schdule_control_effectiveness (void)
	Function that calculates control effectiveness values for the Nederdrone inner loop. More...

void	ctrl_eff_scheduling_init (void)
	Initialises periodic loop;. More...

void	ctrl_eff_scheduling_periodic (void)
	Periodic function that interpolates between gain sets depending on the scheduling variable. More...

Variables
float	trim_elevator = INDI_SCHEDULING_TRIM_ELEVATOR

float	trim_flaps = INDI_SCHEDULING_TRIM_FLAPS

float	pref_flaps_factor = INDI_SCHEDULING_PREF_FLAPS_FACTOR

float	indi_Wu_original [INDI_NUM_ACT] = STABILIZATION_INDI_WLS_WU

bool	all_act_fwd_sched = false

int32_t	use_scheduling = 1

float	thrust_eff_scaling = 1.0

float	backwing_thrust_eff_scaling = 1.0

float	backwing_pitch_eff_scaling = 1.0

static float	g_forward [4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL_FWD, STABILIZATION_INDI_G1_PITCH_FWD, STABILIZATION_INDI_G1_YAW_FWD, STABILIZATION_INDI_G1_THRUST_FWD}

static float	g_hover [4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL, STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST}

float	sched_ratio_tip_props = 1.0

float	sched_tip_prop_upper_pitch_limit_deg = -45

float	sched_tip_prop_lower_pitch_limit_deg = -65

bool	sched_tip_props_always_on = false

Detailed Description

Author: Dennis van Wijngaarden D.C.v.nosp@m.anWi.nosp@m.jngaa.nosp@m.rden.nosp@m.@tude.nosp@m.lft..nosp@m.nl Interpolation of control effectivenss matrix of the Nederdrone.

If instead using online adaptation is an option, be sure to not use this module at the same time!

Definition in file eff_scheduling_nederdrone.c.

Macro Definition Documentation

◆ INDI_SCHEDULING_LOW_AIRSPEED

#define INDI_SCHEDULING_LOW_AIRSPEED 12.0

Definition at line 41 of file eff_scheduling_nederdrone.c.

◆ INDI_SCHEDULING_LOWER_BOUND_G1

#define INDI_SCHEDULING_LOWER_BOUND_G1 0.0001

Definition at line 37 of file eff_scheduling_nederdrone.c.

◆ INDI_SCHEDULING_TRIM_ELEVATOR

#define INDI_SCHEDULING_TRIM_ELEVATOR 0.0

Definition at line 49 of file eff_scheduling_nederdrone.c.

◆ INDI_SCHEDULING_TRIM_FLAPS

#define INDI_SCHEDULING_TRIM_FLAPS 0.0

Definition at line 53 of file eff_scheduling_nederdrone.c.

Function Documentation

◆ ctrl_eff_scheduling_init()

void ctrl_eff_scheduling_init ( void )

Initialises periodic loop;.

Definition at line 92 of file eff_scheduling_nederdrone.c.

References g_forward, g_hover, and INDI_G_SCALING.

◆ ctrl_eff_scheduling_periodic()

void ctrl_eff_scheduling_periodic ( void )

Periodic function that interpolates between gain sets depending on the scheduling variable.

Definition at line 108 of file eff_scheduling_nederdrone.c.

References act_pref, schdule_control_effectiveness(), sched_ratio_tip_props, trim_elevator, and trim_flaps.

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◆ schdule_control_effectiveness()

void schdule_control_effectiveness ( void )

Function that calculates control effectiveness values for the Nederdrone inner loop.

Default requency: 20 Hz.

Definition at line 131 of file eff_scheduling_nederdrone.c.

References all_act_fwd_sched, backwing_pitch_eff_scaling, backwing_thrust_eff_scaling, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, g_forward, g_hover, INDI_SCHEDULING_LOW_AIRSPEED, indi_Wu_original, pref_flaps_factor, RADIO_AUX2, radio_control, sched_ratio_tip_props, sched_tip_prop_lower_pitch_limit_deg, sched_tip_prop_upper_pitch_limit_deg, sched_tip_props_always_on, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, thrust_eff_scaling, use_scheduling, RadioControl::values, wls_stab_p, and WLS_t::Wu.

Referenced by ctrl_eff_scheduling_periodic().

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Variable Documentation

◆ all_act_fwd_sched

bool all_act_fwd_sched = false

Definition at line 65 of file eff_scheduling_nederdrone.c.

Referenced by schdule_control_effectiveness().

◆ backwing_pitch_eff_scaling

float backwing_pitch_eff_scaling = 1.0

Definition at line 71 of file eff_scheduling_nederdrone.c.

Referenced by schdule_control_effectiveness().

◆ backwing_thrust_eff_scaling

float backwing_thrust_eff_scaling = 1.0

Definition at line 70 of file eff_scheduling_nederdrone.c.

Referenced by schdule_control_effectiveness().

◆ g_forward

float g_forward[4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL_FWD, STABILIZATION_INDI_G1_PITCH_FWD, STABILIZATION_INDI_G1_YAW_FWD, STABILIZATION_INDI_G1_THRUST_FWD}

static

Definition at line 73 of file eff_scheduling_nederdrone.c.

Referenced by ctrl_eff_scheduling_init(), and schdule_control_effectiveness().