eff_scheduling_rotwing_V2.h File Reference

#include "std.h"
#include "generated/airframe.h"

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Data Structures
struct	rotwing_eff_sched_param_t
struct	rotwing_eff_sched_var_t
struct	I
struct	F_M_Body
struct	wing_model
struct	RW_attitude
struct	RW_skew
struct	RW_Model

Macros
#define	EFF_MAT_ROWS_NB   6
#define	RW_aX   0
#define	RW_aY   1
#define	RW_aZ   2
#define	RW_aN   0
#define	RW_aE   1
#define	RW_aD   2
#define	RW_ap   3
#define	RW_aq   4
#define	RW_ar   5
#define	EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)
#define	RW_G_SCALE   1000.0f
#define	ZERO_ELE_PPRZ   8000
#define	ELE_MIN_AS   8.8
#define	ELE_MAX_AS   16.0

Functions
void	eff_scheduling_rotwing_init (void)
void	eff_scheduling_rotwing_periodic (void)

Variables
float	EFF_MAT_RW [EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
float	G2_RW [EFF_MAT_COLS_NB]
float	G1_RW [EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
bool	airspeed_fake_on
float	airspeed_fake
float	ele_eff
float	roll_eff
float	yaw_eff
float	ele_min
float	rotation_angle_setpoint_deg
int16_t	rotation_cmd
float	eff_sched_pusher_time
struct RW_Model	RW

Detailed Description

Author

Tomaso De Ponti T.M.L.nosp@m..DeP.nosp@m.onti@.nosp@m.tude.nosp@m.lft.n.nosp@m.l The control effectiveness scheduler for the rotating wing drone type

Definition in file eff_scheduling_rotwing_V2.h.

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Data Structure Documentation

rotwing_eff_sched_param_t

struct rotwing_eff_sched_param_t

Definition at line 31 of file eff_scheduling_rotwing.h.

Data Fields
float	d_rudder_d_pprz
float	DMdpprz_hover_pitch[2]
float	DMdpprz_hover_roll[2]
float	hover_roll_pitch_coef[2]
float	hover_roll_roll_coef[2]
float	Ixx_body
float	Ixx_wing
float	Iyy_body
float	Iyy_wing
float	Izz
float	k_aileron
float	k_elevator[3]
float	k_elevator_deflection[2]
float	k_flaperon
float	k_lift_fuselage
float	k_lift_tail
float	k_lift_wing[2]
float	k_pusher[2]
float	k_rpm_pprz_pusher[3]
float	k_rudder[3]
float	m

rotwing_eff_sched_var_t

struct rotwing_eff_sched_var_t

Definition at line 56 of file eff_scheduling_rotwing.h.

Data Fields
float	airspeed
float	airspeed2
float	cmd_elevator
float	cmd_pusher
float	cmd_pusher_scaled
float	cmd_T_mean_scaled
float	cosr
float	cosr2
float	cosr3
float	Ixx
float	Iyy
float	pitch_motor_dMdpprz
float	roll_motor_dMdpprz
float	sinr
float	sinr2
float	sinr3
float	wing_rotation_deg
float	wing_rotation_rad

I

struct I

Definition at line 118 of file eff_scheduling_rotwing_V2.h.

Data Fields
float	b_xx
float	b_yy
float	w_xx
float	w_yy
float	xx
float	yy
float	zz

F_M_Body

struct F_M_Body

Definition at line 127 of file eff_scheduling_rotwing_V2.h.

Data Fields
float	dFdu
float	dMdu
float	dMdud
float	l

wing_model

struct wing_model

Definition at line 134 of file eff_scheduling_rotwing_V2.h.

Data Fields
float	dLdtheta
float	k0
float	k1
float	k2
float	L

RW_attitude

struct RW_attitude

Definition at line 142 of file eff_scheduling_rotwing_V2.h.

Data Fields
float	cphi
float	cpsi
float	ctheta
float	phi
float	psi
float	sphi
float	spsi
float	stheta
float	theta

RW_skew

struct RW_skew

Definition at line 154 of file eff_scheduling_rotwing_V2.h.

Data Fields
float	cosr
float	cosr2
float	cosr3
float	deg
float	rad
float	sinr
float	sinr2
float	sinr3

RW_Model

struct RW_Model

Definition at line 164 of file eff_scheduling_rotwing_V2.h.

Collaboration diagram for RW_Model:

Data Fields
struct F_M_Body	ail
float	as
float	as2
struct RW_attitude	att
struct F_M_Body	ele
float	ele_pref
struct F_M_Body	flp
struct I	I
float	m
struct F_M_Body	mB
struct F_M_Body	mF
struct F_M_Body	mL
struct F_M_Body	mP
struct F_M_Body	mR
float	P
struct F_M_Body	rud
struct RW_skew	skew
float	T
struct wing_model	wing

Macro Definition Documentation

EFF_MAT_COLS_NB

#define EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)

Definition at line 47 of file eff_scheduling_rotwing_V2.h.

EFF_MAT_ROWS_NB

#define EFF_MAT_ROWS_NB   6

Definition at line 33 of file eff_scheduling_rotwing_V2.h.

ELE_MAX_AS

#define ELE_MAX_AS   16.0

Definition at line 62 of file eff_scheduling_rotwing_V2.h.

ELE_MIN_AS

#define ELE_MIN_AS   8.8

Definition at line 58 of file eff_scheduling_rotwing_V2.h.

RW_aD

#define RW_aD   2

Definition at line 41 of file eff_scheduling_rotwing_V2.h.

RW_aE

#define RW_aE   1

Definition at line 40 of file eff_scheduling_rotwing_V2.h.

RW_aN

#define RW_aN   0

Definition at line 39 of file eff_scheduling_rotwing_V2.h.

RW_ap

#define RW_ap   3

Definition at line 42 of file eff_scheduling_rotwing_V2.h.

RW_aq

#define RW_aq   4

Definition at line 43 of file eff_scheduling_rotwing_V2.h.

RW_ar

#define RW_ar   5

Definition at line 44 of file eff_scheduling_rotwing_V2.h.

RW_aX

#define RW_aX   0

Definition at line 36 of file eff_scheduling_rotwing_V2.h.

RW_aY

#define RW_aY   1

Definition at line 37 of file eff_scheduling_rotwing_V2.h.

RW_aZ

#define RW_aZ   2

Definition at line 38 of file eff_scheduling_rotwing_V2.h.

RW_G_SCALE

#define RW_G_SCALE   1000.0f

Definition at line 50 of file eff_scheduling_rotwing_V2.h.

ZERO_ELE_PPRZ

#define ZERO_ELE_PPRZ   8000

Definition at line 54 of file eff_scheduling_rotwing_V2.h.

Function Documentation

eff_scheduling_rotwing_init()

void eff_scheduling_rotwing_init

(

void

)

Definition at line 219 of file eff_scheduling_rotwing.c.

References rotwing_eff_sched_var_t::airspeed, rotwing_eff_sched_var_t::airspeed2, rotwing_eff_sched_var_t::cmd_elevator, rotwing_eff_sched_var_t::cmd_pusher, rotwing_eff_sched_var_t::cmd_pusher_scaled, rotwing_eff_sched_var_t::cmd_T_mean_scaled, rotwing_eff_sched_var_t::cosr, rotwing_eff_sched_var_t::cosr2, rotwing_eff_sched_param_t::DMdpprz_hover_pitch, rotwing_eff_sched_param_t::DMdpprz_hover_roll, eff_sched_p, eff_sched_var, init_butterworth_2_low_pass(), init_RW_Model(), rotwing_eff_sched_var_t::Ixx, rotwing_eff_sched_param_t::Ixx_body, rotwing_eff_sched_param_t::Ixx_wing, rotwing_eff_sched_var_t::Iyy, rotwing_eff_sched_param_t::Iyy_body, rotwing_eff_sched_param_t::Iyy_wing, rotwing_eff_sched_var_t::pitch_motor_dMdpprz, rotwing_eff_sched_var_t::roll_motor_dMdpprz, rotwing_eff_sched_var_t::sinr, rotwing_eff_sched_var_t::sinr2, rotwing_eff_sched_var_t::sinr3, skew_filt, update_attitude(), wing_position_cb(), wing_position_ev, WING_ROTATION_CAN_ROTWING_ID, rotwing_eff_sched_var_t::wing_rotation_deg, and rotwing_eff_sched_var_t::wing_rotation_rad.

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eff_scheduling_rotwing_periodic()

void eff_scheduling_rotwing_periodic

(

void

)

Definition at line 249 of file eff_scheduling_rotwing.c.

References calc_G1_G2_RW(), eff_scheduling_rotwing_schedule_liftd(), eff_scheduling_rotwing_update_aileron_effectiveness(), eff_scheduling_rotwing_update_airspeed(), eff_scheduling_rotwing_update_cmd(), eff_scheduling_rotwing_update_elevator_effectiveness(), eff_scheduling_rotwing_update_flaperon_effectiveness(), eff_scheduling_rotwing_update_hover_motor_effectiveness(), eff_scheduling_rotwing_update_MMOI(), eff_scheduling_rotwing_update_pusher_effectiveness(), eff_scheduling_rotwing_update_rudder_effectiveness(), eff_scheduling_rotwing_update_wing_angle(), ele_pref_sched(), sum_EFF_MAT_RW(), and update_attitude().

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Variable Documentation

airspeed_fake

float airspeed_fake

extern

Definition at line 77 of file eff_scheduling_rotwing_V2.c.

Referenced by eff_scheduling_rotwing_update_airspeed().

airspeed_fake_on

bool airspeed_fake_on

extern

Definition at line 76 of file eff_scheduling_rotwing_V2.c.

Referenced by eff_scheduling_rotwing_update_airspeed().

EFF_MAT_RW

float EFF_MAT_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]

extern

Definition at line 69 of file eff_scheduling_rotwing_V2.c.

Referenced by calc_model(), G1G2_oneloop(), send_eff_mat_guid_oneloop_andi(), send_eff_mat_stab_oneloop_andi(), and sum_EFF_MAT_RW().

eff_sched_pusher_time

float eff_sched_pusher_time

extern

Definition at line 173 of file eff_scheduling_rotwing.c.

Referenced by stabilization_indi_set_wls_settings().

ele_eff

float ele_eff

extern

Definition at line 78 of file eff_scheduling_rotwing_V2.c.

Referenced by calc_G1_G2_RW(), and init_RW_Model().

ele_min

float ele_min

extern

Definition at line 81 of file eff_scheduling_rotwing_V2.c.

Referenced by ele_pref_sched(), and oneloop_andi_enter().

G1_RW

float G1_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]

extern

Definition at line 68 of file eff_scheduling_rotwing_V2.c.

Referenced by calc_G1_G2_RW(), and sum_EFF_MAT_RW().

G2_RW

float G2_RW[EFF_MAT_COLS_NB]

extern

Definition at line 67 of file eff_scheduling_rotwing_V2.c.

Referenced by calc_G1_G2_RW(), oneloop_andi_run(), and sum_EFF_MAT_RW().

roll_eff

float roll_eff

extern

Definition at line 79 of file eff_scheduling_rotwing_V2.c.

Referenced by init_RW_Model().

rotation_angle_setpoint_deg

float rotation_angle_setpoint_deg

extern

rotation_cmd

int16_t rotation_cmd

extern

RW

struct RW_Model RW

extern

Definition at line 81 of file eff_scheduling_rotwing_V2.c.

Referenced by calc_G1_G2_RW(), calc_model(), eff_scheduling_rotwing_update_airspeed(), eff_scheduling_rotwing_update_wing_angle(), ele_pref_sched(), init_RW_Model(), oneloop_andi_run(), sum_EFF_MAT_RW(), and update_attitude().

yaw_eff

float yaw_eff

extern

Definition at line 80 of file eff_scheduling_rotwing_V2.c.

Referenced by eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), and init_RW_Model().