eff_scheduling_rot_wing.c File Reference

#include "modules/ctrl/eff_scheduling_rot_wing.h"
#include "generated/airframe.h"
#include "state.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "modules/actuators/actuators.h"
#include "modules/core/abi.h"

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Macros
#define	WING_ROTATION_CAN_ROT_WING_ID   ABI_BROADCAST
	ABI binding wing position data. More...

Functions
void	eff_scheduling_rot_wing_update_wing_angle (void)
void	eff_scheduling_rot_wing_update_MMOI (void)
void	eff_scheduling_rot_wing_update_cmd (void)
void	eff_scheduling_rot_wing_update_airspeed (void)
void	eff_scheduling_rot_wing_update_hover_motor_effectiveness (void)
void	eff_scheduling_rot_wing_update_elevator_effectiveness (void)
void	eff_scheduling_rot_wing_update_rudder_effectiveness (void)
void	eff_scheduling_rot_wing_update_aileron_effectiveness (void)
void	eff_scheduling_rot_wing_update_flaperon_effectiveness (void)
void	eff_scheduling_rot_wing_update_pusher_effectiveness (void)
void	eff_scheduling_rot_wing_schedule_liftd (void)
float	guidance_indi_get_liftd (float pitch UNUSED, float theta UNUSED)
void	stabilization_indi_set_wls_settings (void)
	Function that sets the du_min, du_max and du_pref if function not elsewhere defined. More...
static void	wing_position_cb (uint8_t sender_id UNUSED, struct act_feedback_t *pos_msg, uint8_t num_act)
void	eff_scheduling_rot_wing_init (void)
void	eff_scheduling_rot_wing_periodic (void)

Variables
struct rot_wing_eff_sched_param_t	eff_sched_p
struct rot_wing_eff_sched_var_t	eff_sched_var
static abi_event	wing_position_ev
float	eff_scheduling_rot_wing_lift_d = 0.0f

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 The control effectiveness scheduler for the rotating wing drone type

Definition in file eff_scheduling_rot_wing.c.

Macro Definition Documentation

WING_ROTATION_CAN_ROT_WING_ID

#define WING_ROTATION_CAN_ROT_WING_ID   ABI_BROADCAST

ABI binding wing position data.

Definition at line 168 of file eff_scheduling_rot_wing.c.

Function Documentation

eff_scheduling_rot_wing_init()

void eff_scheduling_rot_wing_init

(

void

)

Definition at line 187 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::airspeed2, rot_wing_eff_sched_var_t::cmd_elevator, rot_wing_eff_sched_var_t::cmd_pusher, rot_wing_eff_sched_var_t::cmd_pusher_scaled, rot_wing_eff_sched_var_t::cmd_T_mean_scaled, rot_wing_eff_sched_var_t::cosr, rot_wing_eff_sched_var_t::cosr2, rot_wing_eff_sched_param_t::DMdpprz_hover_roll, eff_sched_p, eff_sched_var, rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_param_t::Ixx_body, rot_wing_eff_sched_param_t::Ixx_wing, rot_wing_eff_sched_var_t::Iyy, rot_wing_eff_sched_param_t::Iyy_body, rot_wing_eff_sched_param_t::Iyy_wing, MAX_PPRZ, rot_wing_eff_sched_var_t::pitch_motor_dMdpprz, rot_wing_eff_sched_var_t::roll_motor_dMdpprz, rot_wing_eff_sched_var_t::sinr, rot_wing_eff_sched_var_t::sinr2, rot_wing_eff_sched_var_t::sinr3, wing_position_cb(), wing_position_ev, WING_ROTATION_CAN_ROT_WING_ID, rot_wing_eff_sched_var_t::wing_rotation_deg, and rot_wing_eff_sched_var_t::wing_rotation_rad.

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eff_scheduling_rot_wing_periodic()

void eff_scheduling_rot_wing_periodic

(

void

)

Definition at line 216 of file eff_scheduling_rot_wing.c.

References eff_scheduling_rot_wing_schedule_liftd(), eff_scheduling_rot_wing_update_aileron_effectiveness(), eff_scheduling_rot_wing_update_airspeed(), eff_scheduling_rot_wing_update_cmd(), eff_scheduling_rot_wing_update_elevator_effectiveness(), eff_scheduling_rot_wing_update_flaperon_effectiveness(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), eff_scheduling_rot_wing_update_MMOI(), eff_scheduling_rot_wing_update_pusher_effectiveness(), eff_scheduling_rot_wing_update_rudder_effectiveness(), and eff_scheduling_rot_wing_update_wing_angle().

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eff_scheduling_rot_wing_schedule_liftd()

void eff_scheduling_rot_wing_schedule_liftd ( void  )

inline

Definition at line 384 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed2, eff_sched_p, eff_sched_var, eff_scheduling_rot_wing_lift_d, if(), rot_wing_eff_sched_param_t::k_lift_fuselage, rot_wing_eff_sched_param_t::k_lift_tail, rot_wing_eff_sched_param_t::k_lift_wing, rot_wing_eff_sched_param_t::m, rot_wing_eff_sched_var_t::sinr2, and rot_wing_eff_sched_var_t::wing_rotation_deg.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_aileron_effectiveness()

void eff_scheduling_rot_wing_update_aileron_effectiveness ( void  )

inline

Definition at line 353 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed2, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_param_t::k_aileron, and rot_wing_eff_sched_var_t::sinr3.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_airspeed()

void eff_scheduling_rot_wing_update_airspeed ( void  )

inline

Definition at line 269 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::airspeed2, eff_sched_var, and stateGetAirspeed_f().

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_cmd()

void eff_scheduling_rot_wing_update_cmd ( void  )

inline

Definition at line 260 of file eff_scheduling_rot_wing.c.

References actuator_state_filt_vect, rot_wing_eff_sched_var_t::cmd_elevator, rot_wing_eff_sched_var_t::cmd_pusher, rot_wing_eff_sched_var_t::cmd_pusher_scaled, rot_wing_eff_sched_var_t::cmd_T_mean_scaled, and eff_sched_var.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_elevator_effectiveness()

void eff_scheduling_rot_wing_update_elevator_effectiveness ( void  )

inline

Definition at line 317 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::airspeed2, rot_wing_eff_sched_var_t::cmd_elevator, rot_wing_eff_sched_var_t::cmd_pusher_scaled, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_var_t::Iyy, rot_wing_eff_sched_param_t::k_elevator, and rot_wing_eff_sched_param_t::k_elevator_deflection.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_flaperon_effectiveness()

void eff_scheduling_rot_wing_update_flaperon_effectiveness ( void  )

inline

Definition at line 361 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed2, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_param_t::k_flaperon, and rot_wing_eff_sched_var_t::sinr3.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_hover_motor_effectiveness()

void eff_scheduling_rot_wing_update_hover_motor_effectiveness ( void  )

inline

Definition at line 277 of file eff_scheduling_rot_wing.c.

References actuator_state_filt_vect, rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::cosr, rot_wing_eff_sched_param_t::DMdpprz_hover_roll, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_param_t::hover_roll_pitch_coef, rot_wing_eff_sched_param_t::hover_roll_roll_coef, rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_var_t::Iyy, rot_wing_eff_sched_var_t::pitch_motor_dMdpprz, rot_wing_eff_sched_var_t::roll_motor_dMdpprz, rot_wing_eff_sched_var_t::sinr, and rot_wing_eff_sched_var_t::wing_rotation_rad.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_MMOI()

void eff_scheduling_rot_wing_update_MMOI ( void  )

inline

Definition at line 250 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::cosr2, eff_sched_p, eff_sched_var, rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_param_t::Ixx_body, rot_wing_eff_sched_param_t::Ixx_wing, rot_wing_eff_sched_var_t::Iyy, rot_wing_eff_sched_param_t::Iyy_body, rot_wing_eff_sched_param_t::Iyy_wing, and rot_wing_eff_sched_var_t::sinr2.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_pusher_effectiveness()

void eff_scheduling_rot_wing_update_pusher_effectiveness ( void  )

inline

Definition at line 369 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::cmd_pusher, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_param_t::k_pusher, rot_wing_eff_sched_param_t::k_rpm_pprz_pusher, and rot_wing_eff_sched_param_t::m.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_rudder_effectiveness()

void eff_scheduling_rot_wing_update_rudder_effectiveness ( void  )

inline

Definition at line 335 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed2, rot_wing_eff_sched_var_t::cmd_pusher_scaled, rot_wing_eff_sched_var_t::cmd_T_mean_scaled, rot_wing_eff_sched_var_t::cosr, rot_wing_eff_sched_param_t::d_rudder_d_pprz, eff_sched_p, eff_sched_var, g1g2, rot_wing_eff_sched_param_t::Izz, and rot_wing_eff_sched_param_t::k_rudder.

Referenced by eff_scheduling_rot_wing_periodic().

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eff_scheduling_rot_wing_update_wing_angle()

void eff_scheduling_rot_wing_update_wing_angle ( void  )

inline

Definition at line 235 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::cosr, rot_wing_eff_sched_var_t::cosr2, eff_sched_var, rot_wing_eff_sched_var_t::sinr, rot_wing_eff_sched_var_t::sinr2, rot_wing_eff_sched_var_t::sinr3, rot_wing_eff_sched_var_t::wing_rotation_deg, and rot_wing_eff_sched_var_t::wing_rotation_rad.

Referenced by eff_scheduling_rot_wing_periodic().

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guidance_indi_get_liftd()

float guidance_indi_get_liftd ( float pitch  UNUSED, float theta  UNUSED  )

inline

Definition at line 399 of file eff_scheduling_rot_wing.c.

References eff_scheduling_rot_wing_lift_d.

stabilization_indi_set_wls_settings()

void stabilization_indi_set_wls_settings

(

void

)

Function that sets the du_min, du_max and du_pref if function not elsewhere defined.

Definition at line 403 of file eff_scheduling_rot_wing.c.

References act_is_servo, act_pref, actuator_state_filt_vect, MAX_PPRZ, u_max_stab_indi, u_min_stab_indi, and u_pref_stab_indi.

wing_position_cb()

static void wing_position_cb ( uint8_t sender_id  UNUSED, struct act_feedback_t *  pos_msg, uint8_t  num_act  )

static

Definition at line 173 of file eff_scheduling_rot_wing.c.

References eff_sched_var, and rot_wing_eff_sched_var_t::wing_rotation_rad.

Referenced by eff_scheduling_rot_wing_init().

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Variable Documentation

eff_sched_p

struct rot_wing_eff_sched_param_t eff_sched_p

Initial value:

= {
  .Ixx_body                 = ROT_WING_EFF_SCHED_IXX_BODY,
  .Iyy_body                 = ROT_WING_EFF_SCHED_IYY_BODY,
  .Izz                      = ROT_WING_EFF_SCHED_IZZ,
  .Ixx_wing                 = ROT_WING_EFF_SCHED_IXX_WING,
  .Iyy_wing                 = ROT_WING_EFF_SCHED_IYY_WING,
  .m                        = ROT_WING_EFF_SCHED_M,
  .DMdpprz_hover_roll       = ROT_WING_EFF_SCHED_DM_DPPRZ_HOVER_ROLL,
  .hover_roll_pitch_coef    = ROT_WING_EFF_SCHED_HOVER_ROLL_PITCH_COEF,
  .hover_roll_roll_coef     = ROT_WING_EFF_SCHED_HOVER_ROLL_ROLL_COEF,
  .k_elevator               = ROT_WING_EFF_SCHED_K_ELEVATOR,
  .k_rudder                 = ROT_WING_EFF_SCHED_K_RUDDER,
  .k_aileron                = ROT_WING_EFF_SCHED_K_AILERON,
  .k_flaperon               = ROT_WING_EFF_SCHED_K_FLAPERON,
  .k_pusher                 = ROT_WING_EFF_SCHED_K_PUSHER,
  .k_elevator_deflection    = ROT_WING_EFF_SCHED_K_ELEVATOR_DEFLECTION,
  .d_rudder_d_pprz          = ROT_WING_EFF_SCHED_D_RUDDER_D_PPRZ,
  .k_rpm_pprz_pusher        = ROT_WING_EFF_SCHED_K_RPM_PPRZ_PUSHER,
  .k_lift_wing              = ROT_WING_EFF_SCHED_K_LIFT_WING,
  .k_lift_fuselage          = ROT_WING_EFF_SCHED_K_LIFT_FUSELAGE,
  .k_lift_tail              = ROT_WING_EFF_SCHED_K_LIFT_TAIL
}

Definition at line 1 of file eff_scheduling_rot_wing.c.

Referenced by eff_scheduling_rot_wing_init(), eff_scheduling_rot_wing_schedule_liftd(), eff_scheduling_rot_wing_update_aileron_effectiveness(), eff_scheduling_rot_wing_update_elevator_effectiveness(), eff_scheduling_rot_wing_update_flaperon_effectiveness(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), eff_scheduling_rot_wing_update_MMOI(), eff_scheduling_rot_wing_update_pusher_effectiveness(), and eff_scheduling_rot_wing_update_rudder_effectiveness().

eff_sched_var

struct rot_wing_eff_sched_var_t eff_sched_var

Definition at line 1 of file eff_scheduling_rot_wing.c.

Referenced by eff_scheduling_rot_wing_init(), eff_scheduling_rot_wing_schedule_liftd(), eff_scheduling_rot_wing_update_aileron_effectiveness(), eff_scheduling_rot_wing_update_airspeed(), eff_scheduling_rot_wing_update_cmd(), eff_scheduling_rot_wing_update_elevator_effectiveness(), eff_scheduling_rot_wing_update_flaperon_effectiveness(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), eff_scheduling_rot_wing_update_MMOI(), eff_scheduling_rot_wing_update_pusher_effectiveness(), eff_scheduling_rot_wing_update_rudder_effectiveness(), eff_scheduling_rot_wing_update_wing_angle(), and wing_position_cb().

eff_scheduling_rot_wing_lift_d

float eff_scheduling_rot_wing_lift_d = 0.0f

Definition at line 382 of file eff_scheduling_rot_wing.c.

Referenced by eff_scheduling_rot_wing_schedule_liftd(), and guidance_indi_get_liftd().

wing_position_ev

abi_event wing_position_ev

static

Definition at line 171 of file eff_scheduling_rot_wing.c.

Referenced by eff_scheduling_rot_wing_init().