eff_scheduling_nederdrone.c

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/*
 * Copyright (C) 2022 Dennis van Wijngaarden <D.C.vanWijngaarden@tudelft.nl>
 *
 * 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_nederdrone.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "state.h"
#include "autopilot.h"
#include "modules/radio_control/radio_control.h"
//#include "generated/radio.h"
#include "modules/actuators/actuators.h"
#define INDI_SCHEDULING_LOWER_BOUND_G1 0.0001
 
// Airspeed at which tip props should be turned on
#ifndef INDI_SCHEDULING_LOW_AIRSPEED
#define INDI_SCHEDULING_LOW_AIRSPEED 12.0
#endif
 
#if INDI_NUM_ACT < 8
#error "This module works with a Nederdrone with 8 (grouped) actuators"
#endif
 
#ifndef INDI_SCHEDULING_TRIM_ELEVATOR
#define INDI_SCHEDULING_TRIM_ELEVATOR 0.0
#endif
 
#ifndef INDI_SCHEDULING_TRIM_FLAPS
#define INDI_SCHEDULING_TRIM_FLAPS 0.0
#endif
 
float trim_elevator = INDI_SCHEDULING_TRIM_ELEVATOR;
float trim_flaps = INDI_SCHEDULING_TRIM_FLAPS;
 
// Factor that changes cost of the flaps and motors if v>15.0 m/s
// Higher factor means prefer using the 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};
 
#ifdef STABILIZATION_INDI_G1
static float g_hover[4][INDI_NUM_ACT] = STABILIZATION_INDI_G1;
#else
static float g_hover[4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL, STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST};
#endif
 
// Functions to schedule switching on and of of tip props on front wing
float sched_ratio_tip_props = 1.0;
// If pitch lower, pitch props gradually switch off till  sched_tip_prop_lower_pitch_limit_deg (1 > sched_ratio_tip_props > 0)
float sched_tip_prop_upper_pitch_limit_deg = -45;
// If pitch lower, pitch props switch fully off (sched_ratio_tip_props goes to 0)
float sched_tip_prop_lower_pitch_limit_deg = -65;
// Setting to not switch off tip props during forward flight
bool sched_tip_props_always_on = false;
 
void schdule_control_effectiveness(void);
 
void ctrl_eff_scheduling_init(void)
{
  // your init code here
  for (uint8_t i = 0; i < INDI_NUM_ACT; i++) {
    g_hover[0][i] = g_hover[0][i] / INDI_G_SCALING;
    g_hover[1][i] = g_hover[1][i] / INDI_G_SCALING;
    g_hover[2][i] = g_hover[2][i] / INDI_G_SCALING;
    g_hover[3][i] = g_hover[3][i] / INDI_G_SCALING;
 
    g_forward[0][i] = g_forward[0][i] / INDI_G_SCALING;
    g_forward[1][i] = g_forward[1][i] / INDI_G_SCALING;
    g_forward[2][i] = g_forward[2][i] / INDI_G_SCALING;
    g_forward[3][i] = g_forward[3][i] / INDI_G_SCALING;
  }
}
void ctrl_eff_scheduling_init(void) {…}
 
void ctrl_eff_scheduling_periodic(void)
{
#ifdef SITL
  sched_ratio_tip_props = 1.0;
#else
  schdule_control_effectiveness();
#endif
 
  act_pref[0] = 0.0;
  act_pref[1] = 0.0;
  act_pref[2] = 0.0;
  act_pref[3] = 0.0;
  // read settings and trim the aerodynamic surfaces
  act_pref[4] = -trim_elevator - trim_flaps;
  act_pref[5] = -trim_elevator - trim_flaps;
  act_pref[6] = -trim_elevator + trim_flaps;
  act_pref[7] = -trim_elevator + trim_flaps;
}
void ctrl_eff_scheduling_periodic(void) {…}
 
void schdule_control_effectiveness(void) {
  float airspeed = stateGetAirspeed_f();
 
  float ratio = 0.0;
  struct FloatEulers eulers_zxy;
  float_eulers_of_quat_zxy(&eulers_zxy, stateGetNedToBodyQuat_f());
 
  // Ratio is only based on pitch now, as the pitot tube is often not mounted.
  if (use_scheduling == 1) {
    ratio = fabs(eulers_zxy.theta) / M_PI_2;
  } else {
    ratio = 0.0;
  }
  Bound(ratio,0.0,1.0);
 
  float stall_speed = 14.0; // m/s
  float pitch_ratio = 0.0;
  // Assume hover or stalled conditions below 14 m/s
  if (use_scheduling == 1) {
    if ( (eulers_zxy.theta > -M_PI_4) || (airspeed < stall_speed) ) {
      if (eulers_zxy.theta > -M_PI_4) {
        pitch_ratio = 0.0;
      } else {
        pitch_ratio = fabs(1.0 - eulers_zxy.theta/(-M_PI_4));
      }
 
    } else {
      pitch_ratio = 1.0;
    }
  } else {
    pitch_ratio = 0.0;
  }
  Bound(pitch_ratio,0.0,1.0);
 
  float airspeed_pitch_eff = airspeed;
  Bound(airspeed_pitch_eff, 8.0, 30.0);
 
  for (uint8_t i = 0; i < INDI_NUM_ACT; i++) {
 
    // Roll
    g1g2[0][i] = g_hover[0][i] * (1.0 - ratio) + g_forward[0][i] * ratio;
    //Pitch, scaled with v^2
    if (i>3 || all_act_fwd_sched) {
      g1g2[1][i] = g_hover[1][i] * (1.0 - pitch_ratio) + g_forward[1][i] * pitch_ratio;
    } else {
      g1g2[1][i] = g_hover[1][i] * (1.0 - pitch_ratio) + g_forward[1][i] * pitch_ratio * airspeed_pitch_eff * airspeed_pitch_eff / (16.0*16.0);
    }
    // With this factor the pitch effectiveness of the back wing can be scaled
    if( (i ==2) || (i==3)) {
      g1g2[1][i] *= backwing_pitch_eff_scaling;
    }
    //Yaw
    g1g2[2][i] = g_hover[2][i] * (1.0 - ratio) + g_forward[2][i] * ratio;
 
    // Determine thrust of the wing to adjust the effectiveness of servos
    float wing_thrust_scaling = 1.0;
#if INDI_NUM_ACT != 8
#error "ctfl_eff_scheduling_nederdrone is very specific and only works for one Nederdrone configuration!"
#endif
    if (i>3) {
      // Increase servo effectiveness depending on the thrust of the propeller of that wing: 0,1,2,3 = motors, 4,5,6,7 = flaps
      float wing_thrust = actuators_pprz[i-4];
      Bound(wing_thrust,3000.0,9600.0);
      wing_thrust_scaling = wing_thrust/9600.0/0.8;
    }
 
    g1g2[0][i] *= wing_thrust_scaling;
    g1g2[1][i] *= wing_thrust_scaling;
    g1g2[2][i] *= wing_thrust_scaling;
  }
 
  // Thrust effectiveness
  float ratio_spec_force = 0.0;
  float airspeed_spec_force = airspeed;
  Bound(airspeed_spec_force, 8.0, 20.0);
  ratio_spec_force = (airspeed_spec_force-8.0) / 12.0;
 
  for (uint8_t i = 0; i < INDI_NUM_ACT; i++) {
    // Thrust
    g1g2[3][i] = g_hover[3][i] * (1.0 - ratio_spec_force) + g_forward[3][i] * ratio_spec_force;
    g1g2[3][i] *= thrust_eff_scaling;
    // With this factor the thrust effectiveness of the back wing can be scaled
    if( (i ==2) || (i==3)) {
      g1g2[3][i] *= backwing_thrust_eff_scaling;
    }
  }
 
  bool low_airspeed = stateGetAirspeed_f() < INDI_SCHEDULING_LOW_AIRSPEED;
 
  // Tip prop ratio
  float pitch_deg = eulers_zxy.theta / M_PI * 180.f;
  float pitch_range_deg = sched_tip_prop_upper_pitch_limit_deg - sched_tip_prop_lower_pitch_limit_deg;
  if (sched_tip_props_always_on || low_airspeed || radio_control.values[RADIO_AUX2] > 0) {
    sched_ratio_tip_props = 1.0;
  } else {
    float pitch_offset = pitch_deg - sched_tip_prop_lower_pitch_limit_deg;
    sched_ratio_tip_props = pitch_offset / pitch_range_deg;
  }
  Bound(sched_ratio_tip_props, 0.0, 1.0);
 
  // Blance the cost of using motors and aerodynamic surfaces
  if(airspeed > 15.0) {
    uint8_t i;
    for (i = 0; i < 4; i++) {
      wls_stab_p.Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
    }
    for (i = 4; i < 8; i++) {
      wls_stab_p.Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
    }
  } else {
    uint8_t i;
    for (i = 0; i < 8; i++) {
      wls_stab_p.Wu[i] = indi_Wu_original[i];
    }
  }
}
void schdule_control_effectiveness(void) {…}