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eff_scheduling_plusquad.h File Reference
#include "std.h"
#include "generated/airframe.h"
Include dependency graph for eff_scheduling_plusquad.h:
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Go to the source code of this file.

Data Structures

struct  rotwing_eff_sched_var_t
struct  I
struct  F_M_Body
struct  RW_attitude
struct  RW_Model

Macros

#define EFF_MAT_ROWS_NB   6
#define RW_aX   0
#define RW_aY   1
#define RW_aZ   2
#define RW_aN   0
#define RW_aE   1
#define RW_aD   2
#define RW_ap   3
#define RW_aq   4
#define RW_ar   5
#define COMMANDS_NB_VIRTUAL   0
#define COMMAND_ROLL   COMMANDS_NB+1
#define COMMAND_PITCH   COMMANDS_NB+2
#define EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)
#define RW_G_SCALE   1000.0f

Functions

void eff_scheduling_rotwing_init (void)
void eff_scheduling_rotwing_periodic (void)

Variables

float EFF_MAT_RW [EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
float G2_RW [EFF_MAT_COLS_NB]
float G1_RW [EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
bool manual_roll
bool manual_pitch
bool manual_yaw
float roll_mult
float pitch_mult
float yaw_mult
float thrust_mult
int G2_on
int thrust_curve
float temp_mQ_k
float roll_eff
float yaw_eff
float ele_min
struct RW_Model RW

Detailed Description

Author
Tomaso De Ponti T.M.L.nosp@m..DeP.nosp@m.onti@.nosp@m.tude.nosp@m.lft.n.nosp@m.l The control effectiveness scheduler for the rotating wing drone type

Definition in file eff_scheduling_plusquad.h.

Data Structure Documentation

◆ rotwing_eff_sched_var_t

struct rotwing_eff_sched_var_t

Definition at line 68 of file eff_scheduling_plusquad.h.

Data Fields
float airspeed
float airspeed2
float cmd_elevator
float cmd_pusher
float cmd_pusher_scaled
float cmd_T_mean_scaled
float cosr
float cosr2
float cosr3
float Ixx
float Iyy
float pitch_motor_dMdpprz
float roll_motor_dMdpprz
float sinr
float sinr2
float sinr3
float wing_rotation_deg
float wing_rotation_rad

◆ I

struct I

Definition at line 81 of file eff_scheduling_plusquad.h.

Data Fields
float b_xx
float b_yy
float w_xx
float w_yy
float xx
float yy
float zz

◆ F_M_Body

struct F_M_Body

Definition at line 90 of file eff_scheduling_plusquad.h.

Data Fields
float dFdu
float dMdu
float dMdud
float l

◆ RW_attitude

struct RW_attitude

Definition at line 97 of file eff_scheduling_plusquad.h.

Data Fields
float cphi
float cpsi
float ctheta
float phi
float psi
float sphi
float spsi
float stheta
float theta

◆ RW_Model

struct RW_Model

Definition at line 109 of file eff_scheduling_plusquad.h.

Collaboration diagram for RW_Model:
Data Fields
struct F_M_Body ail
float as
float as2
struct RW_attitude att
struct F_M_Body ele
float ele_pref
struct F_M_Body flp
struct I I
float m
struct F_M_Body mB
struct F_M_Body mF
struct F_M_Body mL
struct F_M_Body mP
struct F_M_Body mR
float P
struct F_M_Body rud
struct RW_skew skew
float T
struct wing_model wing

Macro Definition Documentation

◆ COMMAND_PITCH

#define COMMAND_PITCH   COMMANDS_NB+2

Definition at line 55 of file eff_scheduling_plusquad.h.

Referenced by attitude_run_fb(), attitude_run_fb(), attitude_run_ff(), attitude_run_ff(), control_mixing_heewing_attitude_direct(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_manual(), control_mixing_heewing_nav_run(), ctrl_module_run(), ctrl_module_run(), feed_jsbsim(), G1G2_oneloop(), guidance_flip_run(), init_controller_gains(), init_poles(), logger_file_write_row(), main_periodic_task(), motor_mixing_run(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nps_ap_data_loop(), nps_autopilot_run_step(), nps_fdm_run_step(), oneloop_andi_run(), oneloop_axis_effectiveness_calc(), oneloop_nB_run(), reinit_controller(), send_att(), send_att(), send_att(), send_att(), send_att(), send_bebop_actuators(), send_rate(), send_tune_hover(), set_rotorcraft_commands(), stabilization_attitude_plane_pid_run(), stabilization_attitude_run(), stabilization_attitude_run(), stabilization_direct_run(), stabilization_filter_commands(), stabilization_indi_rate_run(), stabilization_rate_run(), sum_EFF_MAT_RW(), and swashplate_mixing_run().

◆ COMMAND_ROLL

#define COMMAND_ROLL   COMMANDS_NB+1

Definition at line 51 of file eff_scheduling_plusquad.h.

Referenced by attitude_run_fb(), attitude_run_fb(), attitude_run_ff(), attitude_run_ff(), control_mixing_heewing_attitude_direct(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_manual(), control_mixing_heewing_nav_run(), ctrl_module_run(), ctrl_module_run(), feed_jsbsim(), G1G2_oneloop(), guidance_flip_run(), init_controller_gains(), init_poles(), ins_flow_update(), logger_file_write_row(), main_periodic_task(), motor_mixing_run(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nps_autopilot_run_step(), nps_fdm_run_step(), oneloop_andi_run(), oneloop_axis_effectiveness_calc(), oneloop_nB_run(), reinit_controller(), send_att(), send_att(), send_att(), send_att(), send_att(), send_bebop_actuators(), send_rate(), send_tune_hover(), set_rotorcraft_commands(), stabilization_attitude_plane_pid_run(), stabilization_attitude_run(), stabilization_attitude_run(), stabilization_direct_run(), stabilization_filter_commands(), stabilization_indi_rate_run(), stabilization_rate_run(), sum_EFF_MAT_RW(), and swashplate_mixing_run().

◆ COMMANDS_NB_VIRTUAL

#define COMMANDS_NB_VIRTUAL   0

Definition at line 47 of file eff_scheduling_plusquad.h.

◆ EFF_MAT_COLS_NB

#define EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)

Definition at line 59 of file eff_scheduling_plusquad.h.

Referenced by sum_EFF_MAT_RW().

◆ EFF_MAT_ROWS_NB

#define EFF_MAT_ROWS_NB   6

Definition at line 33 of file eff_scheduling_plusquad.h.

Referenced by sum_EFF_MAT_RW().

◆ RW_aD

#define RW_aD   2

Definition at line 41 of file eff_scheduling_plusquad.h.

Referenced by calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_RM(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_aE

#define RW_aE   1

Definition at line 40 of file eff_scheduling_plusquad.h.

Referenced by calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_aN

#define RW_aN   0

Definition at line 39 of file eff_scheduling_plusquad.h.

Referenced by calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_ap

#define RW_ap   3

Definition at line 42 of file eff_scheduling_plusquad.h.

Referenced by calc_G1_G2_RW(), calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_aq

#define RW_aq   4

Definition at line 43 of file eff_scheduling_plusquad.h.

Referenced by calc_G1_G2_RW(), calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_ar

#define RW_ar   5

Definition at line 44 of file eff_scheduling_plusquad.h.

Referenced by calc_G1_G2_RW(), calc_normalization(), oneloop_andi_bound_disturbance(), oneloop_andi_run(), oneloop_calc_model_disturbance(), and sum_EFF_MAT_RW().

◆ RW_aX

#define RW_aX   0

Definition at line 36 of file eff_scheduling_plusquad.h.

Referenced by calc_G1_G2_RW(), and sum_EFF_MAT_RW().

◆ RW_aY

#define RW_aY   1

Definition at line 37 of file eff_scheduling_plusquad.h.

◆ RW_aZ

#define RW_aZ   2

Definition at line 38 of file eff_scheduling_plusquad.h.

Referenced by calc_G1_G2_RW(), and sum_EFF_MAT_RW().

◆ RW_G_SCALE

#define RW_G_SCALE   1000.0f

Definition at line 62 of file eff_scheduling_plusquad.h.

Referenced by calc_all_thrust_curve(), calc_G1_G2_RW(), and init_RW_Model().

Function Documentation

◆ eff_scheduling_rotwing_init()

void eff_scheduling_rotwing_init ( void )
extern

Definition at line 102 of file eff_scheduling_plusquad.c.

◆ eff_scheduling_rotwing_periodic()

void eff_scheduling_rotwing_periodic ( void )
extern

Definition at line 236 of file eff_scheduling_plusquad.c.

Variable Documentation

◆ EFF_MAT_RW

float EFF_MAT_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
extern

Definition at line 70 of file eff_scheduling_plusquad.c.

◆ ele_min

float ele_min
extern

Definition at line 84 of file eff_scheduling_plusquad.c.

◆ G1_RW

float G1_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
extern

Definition at line 69 of file eff_scheduling_plusquad.c.

◆ G2_on

int G2_on
extern

Definition at line 81 of file eff_scheduling_plusquad.c.

◆ G2_RW

float G2_RW[EFF_MAT_COLS_NB]
extern

Definition at line 68 of file eff_scheduling_plusquad.c.

◆ manual_pitch

bool manual_pitch
extern

Definition at line 59 of file eff_scheduling_plusquad.c.

◆ manual_roll

bool manual_roll
extern

Definition at line 58 of file eff_scheduling_plusquad.c.

◆ manual_yaw

bool manual_yaw
extern

Definition at line 60 of file eff_scheduling_plusquad.c.

◆ pitch_mult

float pitch_mult
extern

Definition at line 63 of file eff_scheduling_plusquad.c.

Referenced by sum_EFF_MAT_RW().

◆ roll_eff

float roll_eff
extern

Definition at line 82 of file eff_scheduling_plusquad.c.

◆ roll_mult

float roll_mult
extern

Definition at line 62 of file eff_scheduling_plusquad.c.

Referenced by sum_EFF_MAT_RW().

◆ RW

struct RW_Model RW
extern

Definition at line 86 of file eff_scheduling_plusquad.c.

◆ temp_mQ_k

float temp_mQ_k
extern

Definition at line 89 of file eff_scheduling_plusquad.c.

◆ thrust_curve

int thrust_curve
extern

Definition at line 88 of file eff_scheduling_plusquad.c.

◆ thrust_mult

float thrust_mult
extern

Definition at line 65 of file eff_scheduling_plusquad.c.

Referenced by calc_all_thrust_curve().

◆ yaw_eff

float yaw_eff
extern

Definition at line 83 of file eff_scheduling_plusquad.c.

◆ yaw_mult

float yaw_mult
extern

Definition at line 64 of file eff_scheduling_plusquad.c.

Referenced by sum_EFF_MAT_RW().