Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Macros | Functions | Variables
rotwing_state.c File Reference
#include "modules/rot_wing_drone/rotwing_state.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "modules/nav/nav_rotorcraft_hybrid.h"
#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "modules/actuators/actuators.h"
#include "modules/core/abi.h"
#include "modules/datalink/telemetry.h"
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Go to the source code of this file.

Macros

#define ROTWING_MIN_SKEW_ANGLE_DEG_QUAD   10.0
 
#define ROTWING_MIN_SKEW_ANGLE_COUNTER   10
 
#define ROTWING_SKEWING_COUNTER   10
 
#define ROTWING_MAX_QUAD_AIRSPEED   20.0
 
#define ROTWING_HALF_SKEW_ANGLE_DEG   55.0
 
#define ROTWING_HALF_SKEW_ANGLE_HALF_RANGE   10.0
 
#define ROTWING_HALF_SKEW_COUNTER   10
 
#define ROTWING_MIN_FW_SKEW_ANGLE_DEG   80.0
 
#define ROTWING_MIN_FW_COUNTER   10
 
#define ROTWING_MIN_THRUST_IDLE   100
 
#define ROTWING_MIN_THRUST_IDLE_COUNTER   10
 
#define ROTWING_HOV_MOT_OFF_RPM_TH   50
 
#define ROTWING_HOV_MOT_OFF_COUNTER   10
 
#define ROTWING_STATE_USE_ROTATION_REF_MODEL   FALSE
 
#define ROTWING_STATE_HOVER_PREF_PITCH   0.0
 
#define ROTWING_STATE_TRANSITION_PREF_PITCH   3.0
 
#define ROTWING_STATE_FW_PREF_PITCH   8.0
 
#define ADC_WING_ROTATION   FALSE
 
#define ROTWING_STATE_ACT_FEEDBACK_ID   ABI_BROADCAST
 ABI binding feedback data. More...
 
#define ROTWING_STATE_NUM_HOVER_RPM   4
 
#define AIRSPEED_IMPORTANCE_IN_FORWARD_WEIGHT   16
 

Functions

static void rotwing_state_feedback_cb (uint8_t sender_id, struct act_feedback_t *feedback_msg, uint8_t num_act)
 
void rotwing_check_set_current_state (void)
 
void rotwing_switch_state (void)
 
void rotwing_state_set_hover_settings (void)
 
void rotwing_state_set_skewing_settings (void)
 
void rotwing_state_set_fw_settings (void)
 
void rotwing_state_set_fw_hov_mot_idle_settings (void)
 
void rotwing_state_set_fw_hov_mot_off_settings (void)
 
void rotwing_state_set_state_settings (void)
 
void rotwing_state_skewer (void)
 
void guidance_indi_hybrid_set_wls_settings (float body_v[3], float roll_angle, float pitch_angle)
 
static void send_rotating_wing_state (struct transport_tx *trans, struct link_device *dev)
 
void init_rotwing_state (void)
 
void periodic_rotwing_state (void)
 
void request_rotwing_state (uint8_t state)
 
void rotwing_request_configuration (uint8_t configuration)
 
void rotwing_state_skew_actuator_periodic (void)
 
static void rotwing_state_feedback_cb (uint8_t sender_id, struct act_feedback_t UNUSED *feedback_msg, uint8_t UNUSED num_act_message)
 

Variables

abi_event rotwing_state_feedback_ev
 
int32_t rotwing_state_hover_rpm [ROTWING_STATE_NUM_HOVER_RPM] = {0, 0, 0, 0}
 
struct RotwingState rotwing_state
 
struct RotWingStateSettings rotwing_state_settings
 
struct RotWingStateSkewing rotwing_state_skewing
 
uint8_t rotwing_state_hover_counter = 0
 
uint8_t rotwing_state_skewing_counter = 0
 
uint8_t rotwing_state_fw_counter = 0
 
uint8_t rotwing_state_fw_idle_counter = 0
 
uint8_t rotwing_state_fw_m_off_counter = 0
 
float rotwing_state_max_hover_speed = 7
 
bool hover_motors_active = true
 
bool bool_disable_hover_motors = false
 

Macro Definition Documentation

◆ ADC_WING_ROTATION

#define ADC_WING_ROTATION   FALSE

Definition at line 110 of file rotwing_state.c.

◆ AIRSPEED_IMPORTANCE_IN_FORWARD_WEIGHT

#define AIRSPEED_IMPORTANCE_IN_FORWARD_WEIGHT   16

◆ ROTWING_HALF_SKEW_ANGLE_DEG

#define ROTWING_HALF_SKEW_ANGLE_DEG   55.0

Definition at line 55 of file rotwing_state.c.

◆ ROTWING_HALF_SKEW_ANGLE_HALF_RANGE

#define ROTWING_HALF_SKEW_ANGLE_HALF_RANGE   10.0

Definition at line 58 of file rotwing_state.c.

◆ ROTWING_HALF_SKEW_COUNTER

#define ROTWING_HALF_SKEW_COUNTER   10

Definition at line 61 of file rotwing_state.c.

◆ ROTWING_HOV_MOT_OFF_COUNTER

#define ROTWING_HOV_MOT_OFF_COUNTER   10

Definition at line 85 of file rotwing_state.c.

◆ ROTWING_HOV_MOT_OFF_RPM_TH

#define ROTWING_HOV_MOT_OFF_RPM_TH   50

Definition at line 82 of file rotwing_state.c.

◆ ROTWING_MAX_QUAD_AIRSPEED

#define ROTWING_MAX_QUAD_AIRSPEED   20.0

Definition at line 50 of file rotwing_state.c.

◆ ROTWING_MIN_FW_COUNTER

#define ROTWING_MIN_FW_COUNTER   10

Definition at line 69 of file rotwing_state.c.

◆ ROTWING_MIN_FW_SKEW_ANGLE_DEG

#define ROTWING_MIN_FW_SKEW_ANGLE_DEG   80.0

Definition at line 66 of file rotwing_state.c.

◆ ROTWING_MIN_SKEW_ANGLE_COUNTER

#define ROTWING_MIN_SKEW_ANGLE_COUNTER   10

Definition at line 40 of file rotwing_state.c.

◆ ROTWING_MIN_SKEW_ANGLE_DEG_QUAD

#define ROTWING_MIN_SKEW_ANGLE_DEG_QUAD   10.0

Definition at line 37 of file rotwing_state.c.

◆ ROTWING_MIN_THRUST_IDLE

#define ROTWING_MIN_THRUST_IDLE   100

Definition at line 74 of file rotwing_state.c.

◆ ROTWING_MIN_THRUST_IDLE_COUNTER

#define ROTWING_MIN_THRUST_IDLE_COUNTER   10

Definition at line 77 of file rotwing_state.c.

◆ ROTWING_SKEWING_COUNTER

#define ROTWING_SKEWING_COUNTER   10

Definition at line 45 of file rotwing_state.c.

◆ ROTWING_STATE_ACT_FEEDBACK_ID

#define ROTWING_STATE_ACT_FEEDBACK_ID   ABI_BROADCAST

ABI binding feedback data.

Definition at line 118 of file rotwing_state.c.

◆ ROTWING_STATE_FW_PREF_PITCH

#define ROTWING_STATE_FW_PREF_PITCH   8.0

Definition at line 105 of file rotwing_state.c.

◆ ROTWING_STATE_HOVER_PREF_PITCH

#define ROTWING_STATE_HOVER_PREF_PITCH   0.0

Definition at line 95 of file rotwing_state.c.

◆ ROTWING_STATE_NUM_HOVER_RPM

#define ROTWING_STATE_NUM_HOVER_RPM   4

Definition at line 122 of file rotwing_state.c.

◆ ROTWING_STATE_TRANSITION_PREF_PITCH

#define ROTWING_STATE_TRANSITION_PREF_PITCH   3.0

Definition at line 100 of file rotwing_state.c.

◆ ROTWING_STATE_USE_ROTATION_REF_MODEL

#define ROTWING_STATE_USE_ROTATION_REF_MODEL   FALSE

Definition at line 89 of file rotwing_state.c.

Function Documentation

◆ guidance_indi_hybrid_set_wls_settings()

void guidance_indi_hybrid_set_wls_settings ( float  body_v[3],
float  roll_angle,
float  pitch_angle 
)
inline

Definition at line 639 of file rotwing_state.c.

References actuator_state_filt_vect, AIRSPEED_IMPORTANCE_IN_FORWARD_WEIGHT, bool_disable_hover_motors, eulers_zxy, float_eulers_of_quat_zxy(), g1g2, GUIDANCE_INDI_MAX_PITCH, GUIDANCE_INDI_MIN_PITCH, guidance_indi_pitch_pref_deg, hover_motors_active, MAX_PPRZ, rotwing_state_skewing, stateGetAirspeed_f(), stateGetNedToBodyQuat_f(), FloatEulers::theta, and RotWingStateSkewing::wing_angle_deg.

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◆ init_rotwing_state()

void init_rotwing_state ( void  )

Definition at line 170 of file rotwing_state.c.

References RotWingStateSkewing::airspeed_scheduling, RotwingState::current_state, DefaultPeriodic, RotwingState::desired_state, RotWingStateSkewing::force_rotation_angle, MAX_PPRZ, register_periodic_telemetry(), rotwing_state, ROTWING_STATE_ACT_FEEDBACK_ID, rotwing_state_feedback_cb(), rotwing_state_feedback_ev, ROTWING_STATE_HOVER, rotwing_state_skewing, send_rotating_wing_state(), RotWingStateSkewing::servo_pprz_cmd, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

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◆ periodic_rotwing_state()

void periodic_rotwing_state ( void  )

Definition at line 190 of file rotwing_state.c.

References bool_disable_hover_motors, guidance_h, GUIDANCE_H_MODE_ATTITUDE, GUIDANCE_H_MODE_FORWARD, GUIDANCE_H_MODE_NAV, HorizontalGuidance::mode, rotwing_check_set_current_state(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_skewer(), and rotwing_switch_state().

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◆ request_rotwing_state()

void request_rotwing_state ( uint8_t  state)

Definition at line 217 of file rotwing_state.c.

References RotwingState::desired_state, rotwing_state, ROTWING_STATE_FW_HOV_MOT_OFF, and state.

Referenced by rotwing_request_configuration().

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◆ rotwing_check_set_current_state()

void rotwing_check_set_current_state ( void  )
inline

Definition at line 240 of file rotwing_state.c.

References autopilot, RotwingState::current_state, RotwingState::desired_state, pprz_autopilot::in_flight, ROTWING_HOV_MOT_OFF_COUNTER, ROTWING_HOV_MOT_OFF_RPM_TH, ROTWING_MIN_FW_COUNTER, ROTWING_MIN_FW_SKEW_ANGLE_DEG, ROTWING_MIN_SKEW_ANGLE_COUNTER, ROTWING_MIN_SKEW_ANGLE_DEG_QUAD, ROTWING_MIN_THRUST_IDLE, ROTWING_MIN_THRUST_IDLE_COUNTER, rotwing_state, ROTWING_STATE_FW, rotwing_state_fw_counter, ROTWING_STATE_FW_HOV_MOT_IDLE, ROTWING_STATE_FW_HOV_MOT_OFF, rotwing_state_fw_idle_counter, rotwing_state_fw_m_off_counter, ROTWING_STATE_HOVER, rotwing_state_hover_counter, rotwing_state_hover_rpm, rotwing_state_skewing, ROTWING_STATE_SKEWING, rotwing_state_skewing_counter, stabilization_cmd, and RotWingStateSkewing::wing_angle_deg.

Referenced by periodic_rotwing_state().

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◆ rotwing_request_configuration()

void rotwing_request_configuration ( uint8_t  configuration)

Definition at line 225 of file rotwing_state.c.

References request_rotwing_state(), ROTWING_CONFIGURATION_EFFICIENT, ROTWING_CONFIGURATION_HOVER, ROTWING_CONFIGURATION_HYBRID, ROTWING_STATE_FW_HOV_MOT_OFF, ROTWING_STATE_HOVER, and ROTWING_STATE_SKEWING.

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◆ rotwing_state_feedback_cb() [1/2]

static void rotwing_state_feedback_cb ( uint8_t  sender_id,
struct act_feedback_t *  feedback_msg,
uint8_t  num_act 
)
static

Referenced by init_rotwing_state().

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◆ rotwing_state_feedback_cb() [2/2]

static void rotwing_state_feedback_cb ( uint8_t  sender_id,
struct act_feedback_t UNUSED *  feedback_msg,
uint8_t UNUSED  num_act_message 
)
static

Definition at line 606 of file rotwing_state.c.

References idx, rotwing_state_hover_rpm, rotwing_state_skewing, and RotWingStateSkewing::wing_angle_deg.

◆ rotwing_state_set_fw_hov_mot_idle_settings()

void rotwing_state_set_fw_hov_mot_idle_settings ( void  )
inline

Definition at line 480 of file rotwing_state.c.

References RotWingStateSettings::force_forward, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, RotWingStateSettings::max_v_climb, RotWingStateSettings::max_v_descend, RotWingStateSettings::nav_max_speed, RotWingStateSettings::preferred_pitch, ROTWING_STATE_PITCH_FW_SETTING, rotwing_state_set_state_settings(), rotwing_state_settings, ROTWING_STATE_WING_FW_SETTING, RotWingStateSettings::stall_protection, and RotWingStateSettings::wing_scheduler.

Referenced by rotwing_switch_state().

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◆ rotwing_state_set_fw_hov_mot_off_settings()

void rotwing_state_set_fw_hov_mot_off_settings ( void  )
inline

Definition at line 494 of file rotwing_state.c.

References RotWingStateSettings::force_forward, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, RotWingStateSettings::max_v_climb, RotWingStateSettings::max_v_descend, RotWingStateSettings::nav_max_speed, RotWingStateSettings::preferred_pitch, ROTWING_STATE_PITCH_FW_SETTING, rotwing_state_set_state_settings(), rotwing_state_settings, ROTWING_STATE_WING_FW_SETTING, RotWingStateSettings::stall_protection, and RotWingStateSettings::wing_scheduler.

Referenced by rotwing_switch_state().

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◆ rotwing_state_set_fw_settings()

void rotwing_state_set_fw_settings ( void  )
inline

Definition at line 466 of file rotwing_state.c.

References RotWingStateSettings::force_forward, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, RotWingStateSettings::max_v_climb, RotWingStateSettings::max_v_descend, RotWingStateSettings::nav_max_speed, RotWingStateSettings::preferred_pitch, ROTWING_STATE_PITCH_FW_SETTING, rotwing_state_set_state_settings(), rotwing_state_settings, ROTWING_STATE_WING_FW_SETTING, RotWingStateSettings::stall_protection, and RotWingStateSettings::wing_scheduler.

Referenced by periodic_rotwing_state(), and rotwing_switch_state().

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◆ rotwing_state_set_hover_settings()

void rotwing_state_set_hover_settings ( void  )
inline

Definition at line 433 of file rotwing_state.c.

References RotWingStateSettings::force_forward, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, RotWingStateSettings::max_v_climb, RotWingStateSettings::max_v_descend, RotWingStateSettings::nav_max_speed, RotWingStateSettings::preferred_pitch, rotwing_state_max_hover_speed, ROTWING_STATE_PITCH_QUAD_SETTING, rotwing_state_set_state_settings(), rotwing_state_settings, ROTWING_STATE_WING_QUAD_SETTING, RotWingStateSettings::stall_protection, and RotWingStateSettings::wing_scheduler.

Referenced by periodic_rotwing_state(), and rotwing_switch_state().

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◆ rotwing_state_set_skewing_settings()

void rotwing_state_set_skewing_settings ( void  )
inline

Definition at line 447 of file rotwing_state.c.

References RotwingState::desired_state, RotWingStateSettings::force_forward, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, RotWingStateSettings::max_v_climb, RotWingStateSettings::max_v_descend, RotWingStateSettings::nav_max_speed, RotWingStateSettings::preferred_pitch, rotwing_state, ROTWING_STATE_HOVER, ROTWING_STATE_PITCH_TRANSITION_SETTING, rotwing_state_set_state_settings(), rotwing_state_settings, ROTWING_STATE_WING_QUAD_SETTING, ROTWING_STATE_WING_SCHEDULING_SETTING, RotWingStateSettings::stall_protection, and RotWingStateSettings::wing_scheduler.

Referenced by rotwing_switch_state().

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◆ rotwing_state_set_state_settings()

void rotwing_state_set_state_settings ( void  )
inline

Definition at line 508 of file rotwing_state.c.

References RotWingStateSkewing::airspeed_scheduling, bool_disable_hover_motors, force_forward, RotWingStateSettings::force_forward, RotWingStateSkewing::force_rotation_angle, hover_motors_active, RotWingStateSettings::hover_motors_active, RotWingStateSettings::hover_motors_disable, nav_max_speed, RotWingStateSettings::nav_max_speed, rotwing_state_settings, rotwing_state_skewing, ROTWING_STATE_WING_FW_SETTING, ROTWING_STATE_WING_QUAD_SETTING, ROTWING_STATE_WING_SCHEDULING_SETTING, RotWingStateSkewing::wing_angle_deg_sp, and RotWingStateSettings::wing_scheduler.

Referenced by rotwing_state_set_fw_hov_mot_idle_settings(), rotwing_state_set_fw_hov_mot_off_settings(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), and rotwing_state_set_skewing_settings().

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◆ rotwing_state_skew_actuator_periodic()

void rotwing_state_skew_actuator_periodic ( void  )

Definition at line 563 of file rotwing_state.c.

References ACT_FEEDBACK_UAVCAN_ID, act_feedback_t::idx, MAX_PPRZ, rotwing_state_skewing, RotWingStateSkewing::servo_pprz_cmd, speed_sp, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

◆ rotwing_state_skewer()

void rotwing_state_skewer ( void  )
inline

Definition at line 543 of file rotwing_state.c.

References RotWingStateSkewing::airspeed_scheduling, RotwingState::desired_state, rotwing_state, ROTWING_STATE_HOVER, rotwing_state_skewing, stateGetAirspeed_f(), and RotWingStateSkewing::wing_angle_deg_sp.

Referenced by periodic_rotwing_state().

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◆ rotwing_switch_state()

void rotwing_switch_state ( void  )
inline

Definition at line 384 of file rotwing_state.c.

References RotwingState::current_state, RotwingState::desired_state, ROTWING_MAX_QUAD_AIRSPEED, rotwing_state, ROTWING_STATE_FW, ROTWING_STATE_FW_HOV_MOT_IDLE, ROTWING_STATE_FW_HOV_MOT_OFF, ROTWING_STATE_HOVER, rotwing_state_set_fw_hov_mot_idle_settings(), rotwing_state_set_fw_hov_mot_off_settings(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_set_skewing_settings(), ROTWING_STATE_SKEWING, and stateGetAirspeed_f().

Referenced by periodic_rotwing_state().

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◆ send_rotating_wing_state()

static void send_rotating_wing_state ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 157 of file rotwing_state.c.

References RotwingState::current_state, RotwingState::desired_state, dev, rotwing_state, rotwing_state_skewing, RotWingStateSkewing::servo_pprz_cmd, RotWingStateSkewing::wing_angle_deg, and RotWingStateSkewing::wing_angle_deg_sp.

Referenced by init_rotwing_state().

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Variable Documentation

◆ bool_disable_hover_motors

bool bool_disable_hover_motors = false

Definition at line 138 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), periodic_rotwing_state(), and rotwing_state_set_state_settings().

◆ hover_motors_active

bool hover_motors_active = true

Definition at line 137 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), and rotwing_state_set_state_settings().

◆ rotwing_state

struct RotwingState rotwing_state

Definition at line 123 of file rotwing_state.c.

Referenced by init_rotwing_state(), request_rotwing_state(), rotwing_check_set_current_state(), rotwing_state_set_skewing_settings(), rotwing_state_skewer(), rotwing_switch_state(), and send_rotating_wing_state().

◆ rotwing_state_feedback_ev

abi_event rotwing_state_feedback_ev

Definition at line 120 of file rotwing_state.c.

Referenced by init_rotwing_state().

◆ rotwing_state_fw_counter

uint8_t rotwing_state_fw_counter = 0

Definition at line 131 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state().

◆ rotwing_state_fw_idle_counter

uint8_t rotwing_state_fw_idle_counter = 0

Definition at line 132 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state().

◆ rotwing_state_fw_m_off_counter

uint8_t rotwing_state_fw_m_off_counter = 0

Definition at line 133 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state().

◆ rotwing_state_hover_counter

uint8_t rotwing_state_hover_counter = 0

Definition at line 129 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state().

◆ rotwing_state_hover_rpm

int32_t rotwing_state_hover_rpm[ROTWING_STATE_NUM_HOVER_RPM] = {0, 0, 0, 0}

Definition at line 123 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state(), and rotwing_state_feedback_cb().

◆ rotwing_state_max_hover_speed

float rotwing_state_max_hover_speed = 7

Definition at line 135 of file rotwing_state.c.

Referenced by rotwing_state_set_hover_settings().

◆ rotwing_state_settings

struct RotWingStateSettings rotwing_state_settings

Definition at line 123 of file rotwing_state.c.

Referenced by rotwing_state_set_fw_hov_mot_idle_settings(), rotwing_state_set_fw_hov_mot_off_settings(), rotwing_state_set_fw_settings(), rotwing_state_set_hover_settings(), rotwing_state_set_skewing_settings(), and rotwing_state_set_state_settings().

◆ rotwing_state_skewing

struct RotWingStateSkewing rotwing_state_skewing

Definition at line 123 of file rotwing_state.c.

Referenced by guidance_indi_hybrid_set_wls_settings(), init_rotwing_state(), rotwing_check_set_current_state(), rotwing_state_feedback_cb(), rotwing_state_set_state_settings(), rotwing_state_skew_actuator_periodic(), rotwing_state_skewer(), and send_rotating_wing_state().

◆ rotwing_state_skewing_counter

uint8_t rotwing_state_skewing_counter = 0

Definition at line 130 of file rotwing_state.c.

Referenced by rotwing_check_set_current_state().