rotwing_state module

This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan

Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.

Example for airframe file

Add to your firmware section:

<module name="rotwing_state"/>

Module configuration options

Airframe file section

• section name: ROTWING_STATE prefix: ROTWING_STATE_

Module functions

Init Functions

These initialization functions are called once on startup.

• rotwing_state_init()

Periodic Functions

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

• rotwing_state_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

• rotwing_state.h

Source Files

• modules/rotwing_drone/rotwing_state.c

Raw rotwing_state.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="rotwing_state" dir="rotwing_drone">
  <doc>
    <description>This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan. Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.</description>
    <section name="ROTWING_STATE" prefix="ROTWING_STATE_">
    
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="RotWing">
        <dl_setting var="rotwing_state.nav_state" min="0" max="4" step="1" values="FORCE_HOVER|REQ_HOVER|FORCE_FW|REQ_FW|FREE" shortname="nav_state"/>
        <dl_setting var="rotwing_state.fw_min_airspeed" min="0" max="50" step="0.1" shortname="fw_min_airspeed"/>
        <dl_setting var="rotwing_state.cruise_airspeed" min="0" max="50" step="0.1" shortname="cruise_airspeed"/>
        <dl_setting var="rotwing_state.force_skew" min="0" max="1" step="1" values="FALSE|TRUE" shortname="force_skew"/>
        <dl_setting var="rotwing_state.sp_skew_angle_deg" min="0" max="90" step="1" shortname="sp_skew_angle"/>
        <dl_setting var="rotwing_state.fail_skew_angle" min="0" max="1" step="1" values="OFF|ON" shortname="fail_skew"/>
        <dl_setting var="rotwing_state.fail_hover_motor" min="0" max="1" step="1" values="OFF|ON" shortname="fail_hover"/>
        <dl_setting var="rotwing_state.fail_pusher_motor" min="0" max="1" step="1" values="OFF|ON" shortname="fail_pusher"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="rotwing_state.h"/>
  </header>
    <init fun="rotwing_state_init()"/>
    <periodic fun="rotwing_state_periodic()"/>
  <makefile>
    <file name="rotwing_state.c"/>
  </makefile>
</module>