heli_throttle_curve module

Throttle Curve Mixers

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="heli_throttle_curve">
  b'<define name="THROTTLE_CURVE_RPM_FB_P" value="0" />\n    '
  b'<define name="THROTTLE_CURVE_RPM_FB_I" value="0" />\n    '
  b'<define name="THROTTLE_CURVE_RPM_INC_LIMIT" value="512" />\n    '
  b'<define name="THROTTLE_CURVE_ACT_FEEDBACK_ID" value="ABI_BROADCAST" />\n    '
  b'<define name="THROTTLE_CURVE_RPM_ACT" value="0" />\n  '
</module>

Module configuration options

Define Options

• name: THROTTLE_CURVE_RPM_FB_P value: 0
  Description: The RPM controller feeadback P gain of the PI controller
• name: THROTTLE_CURVE_RPM_FB_I value: 0
  Description: The RPM controller feeadback I gain of the PI controller
• name: THROTTLE_CURVE_RPM_INC_LIMIT value: 512
  Description: Amount of RPM the controller can increase or decrease per second
• name: THROTTLE_CURVE_ACT_FEEDBACK_ID value: ABI_BROADCAST
  Description: The ABI sender ID to listen for RPM messages
• name: THROTTLE_CURVE_RPM_ACT value: 0
  Description: The RPM message motor index (generated from airframe.h)

Module functions

Init Functions

These initialization functions are called once on startup.

• throttle_curve_init()

Files

Header Files

The following headers are automatically included in modules.h

• throttle_curve.h

Source Files

• modules/helicopter/throttle_curve.c

Raw heli_throttle_curve.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="heli_throttle_curve" dir="helicopter">
  <doc>
    <description>Throttle Curve Mixers</description>
    <define name="THROTTLE_CURVE_RPM_FB_P" value="0" description="The RPM controller feeadback P gain of the PI controller"/>
    <define name="THROTTLE_CURVE_RPM_FB_I" value="0" description="The RPM controller feeadback I gain of the PI controller"/>
    <define name="THROTTLE_CURVE_RPM_INC_LIMIT" value="512" description="Amount of RPM the controller can increase or decrease per second"/>
    <define name="THROTTLE_CURVE_ACT_FEEDBACK_ID" value="ABI_BROADCAST" description="The ABI sender ID to listen for RPM messages"/>
    <define name="THROTTLE_CURVE_RPM_ACT" value="0" description="The RPM message motor index (generated from airframe.h)"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="ThrottleCurve">
         <dl_setting var="throttle_curve.rpm_fb_p" min="0.00" step="0.005" max="100" shortname="rpm_fb_p" param="THROTTLE_CURVE_RPM_FB_P" />
         <dl_setting var="throttle_curve.rpm_fb_i" min="0.00" step="0.005" max="100" shortname="rpm_fb_i" param="THROTTLE_CURVE_RPM_FB_I" />
         <dl_setting var="throttle_curve.throttle_trim" min="-9600" step="0" max="9600" shortname="throttle_trim" />
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="throttle_curve.h"/>
  </header>
  <init fun="throttle_curve_init()"/>
  <makefile target="ap">
    <file name="throttle_curve.c"/>
    <define name="USE_THROTTLE_CURVES" value="TRUE"/>
    <test firmware="rotorcraft">
      <define name="THROTTLE_CURVE_RPM_ACT" value="0"/>
      <define name="THROTTLE_POINTS_NB" value="3"/>
      <define name="THROTTLE_CURVES_NB" value="2"/>
      <define name="THROTTLE_CURVES" value="{{0}}"/>
      <define name="THROTTLE_CURVE_MODE_INIT" value="0"/>
      <define name="RADIO_FMODE" value="0"/>
      <define name="COMMAND_COLLECTIVE" value="0"/>
    </test>
  </makefile>
</module>