eff_scheduling_rotwing module

T

he control effectiveness scheduler for the rotating wing quadplane drone type

• it requires a servo called ROTATION_MECH

Example for airframe file

Add to your firmware section:

<module name="eff_scheduling_rotwing"/>

Module configuration options

Airframe file section

• section name: ROTWING prefix: ROTWING_EFF_SCHED_
  • name IXX_BODY value: 0
  • name IYY_BODY value: 0
  • name IZZ value: 0
  • name IXX_WING value: 0
  • name IYY_WING value: 0
  • name M value: 0
  • name ROLL_ARM value: 0
  • name PITCH_ARM value: 0
  • name HOVER_DF_DPPRZ value: 0
  • name HOVER_ROLL_PITCH_COEF value: {0,0}

Module functions

Init Functions

These initialization functions are called once on startup.

• eff_scheduling_rotwing_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• eff_scheduling_rotwing_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• eff_scheduling_rotwing.h

Source Files

• modules/ctrl/eff_scheduling_rotwing.c

Raw eff_scheduling_rotwing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="eff_scheduling_rotwing" dir="ctrl">
  <doc>
    <description>T
      he control effectiveness scheduler for the rotating wing quadplane drone type
     - it requires a servo called ROTATION_MECH
    </description>
    <section name="ROTWING" prefix="ROTWING_EFF_SCHED_">
      <define name="IXX_BODY" value="0"  description=""/>
      <define name="IYY_BODY" value="0"  description=""/>
      <define name="IZZ" value="0"       description=""/>
      <define name="IXX_WING" value="0"  description=""/>
      <define name="IYY_WING" value="0"  description=""/>
      <define name="M" value="0"         description=""/>
      <define name="ROLL_ARM" value="0"  description=""/>
      <define name="PITCH_ARM" value="0" description=""/>
      <define name="HOVER_DF_DPPRZ" value="0" description=""/>
      <define name="HOVER_ROLL_PITCH_COEF" value="{0,0}" description=""/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="eff_sched">
        <dl_setting var="eff_sched_pusher_time" min="0.002" step="0.002" max="3." shortname="push_time"/>
        <dl_setting var="rw_flap_offset" min="-9600" step="10" max="9600" shortname="flap_offset"/>
        <dl_setting var="eff_sched_p.Iyy_body" min="0" step="0.1" max="30" shortname="Iyy_body"/>
        <dl_setting var="eff_sched_p.Ixx_body" min="0" step="0.1" max="30" shortname="Ixx_body"/>
        <dl_setting var="eff_sched_p.Iyy_wing" min="0" step="0.1" max="30" shortname="Iyy_wing"/>
        <dl_setting var="eff_sched_p.Ixx_wing" min="0" step="0.1" max="30" shortname="Ixx_wing"/>
        <dl_setting var="eff_sched_p.m" min="0" step="0.1" max="50" shortname="M"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="eff_scheduling_rotwing.h"/>
  </header>
  <init fun="eff_scheduling_rotwing_init()"/>
  <periodic fun="eff_scheduling_rotwing_periodic()"/>
  <makefile>
    <file name="eff_scheduling_rotwing.c"/>
    <test firmware="rotorcraft">
      <define name="ACTUATORS_NB" value="10"/>
      <define name="SERVO_ROTATION_MECH_IDX" value="8"/>
      <define name="SERVO_MOTOR_FRONT" value="0"/>
      <define name="SERVO_MOTOR_RIGHT" value="1"/>
      <define name="SERVO_MOTOR_BACK" value="2"/>
      <define name="SERVO_MOTOR_LEFT" value="3"/>
      <define name="SERVO_MOTOR_PUSH" value="8"/>
      <define name="SERVO_SERVO_ELEVATOR" value="5"/>
      <define name="INDI_NUM_ACT" value="4"/>
      <define name="INDI_OUTPUTS" value="3"/>
      <define name="ROTWING_EFF_SCHED_IXX_BODY" value="1"/>
      <define name="ROTWING_EFF_SCHED_IYY_BODY" value="1"/>
      <define name="ROTWING_EFF_SCHED_IZZ" value="1"/>
      <define name="ROTWING_EFF_SCHED_IXX_WING" value="1"/>
      <define name="ROTWING_EFF_SCHED_IYY_WING" value="1"/>
      <define name="ROTWING_EFF_SCHED_M" value="1"/>
      <define name="ROTWING_EFF_SCHED_DM_DPPRZ_HOVER_PITCH" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_DM_DPPRZ_HOVER_ROLL" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_HOVER_ROLL_PITCH_COEF" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_HOVER_ROLL_ROLL_COEF" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_ELEVATOR" value="{1,1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_RUDDER" value="{1,1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_AILERON" value="1"/>
      <define name="ROTWING_EFF_SCHED_K_FLAPERON" value="1"/>
      <define name="ROTWING_EFF_SCHED_K_PUSHER" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_ELEVATOR_DEFLECTION" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_D_RUDDER_D_PPRZ" value="1"/>
      <define name="ROTWING_EFF_SCHED_K_RPM_PPRZ_PUSHER" value="{1,1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_LIFT_WING" value="{1,1}"/>
      <define name="ROTWING_EFF_SCHED_K_LIFT_FUSELAGE" value="1"/>
      <define name="ROTWING_EFF_SCHED_K_LIFT_TAIL" value="1"/>
      <define name="GUIDANCE_INDI_HYBRID_USE_WLS" value="1"/>
      <define name="GUIDANCE_INDI_HYBRID_U" value="9"/>
      <define name="GUIDANCE_INDI_HYBRID_V" value="5"/>
      <define name="GUIDANCE_INDI_WLS_PRIORITIES"   value="{1000, 1000, 10, 100, 100}"/>
      <define name="GUIDANCE_INDI_WLS_WU"           value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
      <define name="GUIDANCE_INDI_MAX_PITCH"        value="20.0"/>
      <define name="GUIDANCE_INDI_MIN_PITCH"        value="-20.0"/>
      
    </test>
  </makefile>
</module>