eff_scheduling_rotwing_v2 module

T

The 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_V2"/>

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_V2.h

Source Files

• modules/ctrl/eff_scheduling_rotwing_V2.c

Raw eff_scheduling_rotwing_V2.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="eff_scheduling_rotwing_V2" dir="ctrl">
  <doc>
    <description>T
      The 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="ele_min"            min="0"       step="100"   max="6400"  shortname="ele_min"/> 
       <dl_setting var="roll_eff"           min="1"       step="0.05"   max="10"    shortname="roll_eff"/>
       <dl_setting var="yaw_eff"            min="0.1"     step="0.01"   max="1"    shortname="yaw_eff"/>
       <dl_setting var="ele_eff"            min="5"       step="0.5"   max="50"    shortname="ele_eff"/> 
       <dl_setting var="airspeed_fake_on"   min="0"       step="1"     max="1"     values="OFF|ON" shortname="bool_airspeed_fake"/> 
       <dl_setting var="airspeed_fake"      min="0"       step="0.001" max="20"    shortname="airspeed_fake"/>     
     </dl_settings>
   </dl_settings>
  </settings>
  <header>
    <file name="eff_scheduling_rotwing_V2.h"/>
  </header>
  <init fun="eff_scheduling_rotwing_init()"/>
  <periodic fun="eff_scheduling_rotwing_periodic()"/>
  <makefile>
    <file name="eff_scheduling_rotwing_V2.c"/>
    <test firmware="rotorcraft">
      <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="M_PI"                        value="3.14"/>
      <define name="PERIODIC_FREQUENCY"          value="500.0"/>
      <define name="ACTUATORS_NB"                value="10"/>
      <define name="COMMANDS_NB_PASSIVE"         value="1"/>
      <define name="COMMANDS_NB_VIRTUAL"         value="2"/>
      <define name="COMMANDS_NB_REAL"            value="9"/>
      <define name="COMMANDS_NB_OTHER"           value="2"/>
      <define name="ANDI_OUTPUTS"                value="6"/>
      <define name="EFF_MAT_ROWS_NB"             value="6"/> 
      <define name="EFF_MAT_COLS_NB"             value="11"/>
      <define name="COMMAND_MOTOR_FRONT"         value="0"/>
      <define name="COMMAND_MOTOR_RIGHT"         value="8"/>
      <define name="COMMAND_MOTOR_BACK"          value="9"/>
      <define name="COMMAND_MOTOR_LEFT"          value="3"/>
      <define name="COMMAND_MOTOR_PUSHER"        value="10"/>
      <define name="COMMAND_ELEVATOR"            value="5"/>
      <define name="COMMAND_RUDDER"              value="6"/>
      <define name="COMMAND_AILERONS"            value="7"/>
      <define name="COMMAND_ROT_MECH"            value="11"/>
      <define name="SERVO_ROTATION_MECH_IDX"     value="11"/>
      <define name="RW_aX"                       value="0"/>
      <define name="RW_aY"                       value="1"/>
      <define name="RW_aZ"                       value="2"/>
      <define name="RW_aN"                       value="0"/>
      <define name="RW_aE"                       value="1"/>
      <define name="RW_aD"                       value="2"/>
      <define name="RW_ap"                       value="3"/>
      <define name="RW_aq"                       value="4"/>
      <define name="RW_ar"                       value="5"/>
      <define name="ZERO_ELE_PPRZ"               value="8000"/>
      <define name="ELE_MIN_AS"                  value="8.8"/>
      <define name="ELE_MAX_AS"                  value="16.0"/>
    </test>
  </makefile>
</module>