Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Data Structures | Macros | Functions | Variables
eff_scheduling_rot_wing_V2.h File Reference
#include "std.h"
#include "generated/airframe.h"
+ Include dependency graph for eff_scheduling_rot_wing_V2.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  rot_wing_eff_sched_param_t
 
struct  rot_wing_eff_sched_var_t
 
struct  I
 
struct  F_M_Body
 
struct  wing_model
 
struct  RW_attitude
 
struct  RW_skew
 
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 EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)
 
#define RW_G_SCALE   1000.0f
 
#define ZERO_ELE_PPRZ   8000
 
#define ELE_MIN_AS   8.8
 
#define ELE_MAX_AS   16.0
 

Functions

void eff_scheduling_rot_wing_init (void)
 
void eff_scheduling_rot_wing_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 airspeed_fake_on
 
float airspeed_fake
 
float ele_eff
 
float ele_min
 
float rotation_angle_setpoint_deg
 
int16_t rotation_cmd
 
float eff_sched_pusher_time
 
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_rot_wing_V2.h.

Data Structure Documentation

◆ rot_wing_eff_sched_param_t

struct rot_wing_eff_sched_param_t

Definition at line 31 of file eff_scheduling_rot_wing.h.

Data Fields
float d_rudder_d_pprz
float DMdpprz_hover_roll[2]
float hover_roll_pitch_coef[2]
float hover_roll_roll_coef[2]
float Ixx_body
float Ixx_wing
float Iyy_body
float Iyy_wing
float Izz
float k_aileron
float k_elevator[3]
float k_elevator_deflection[2]
float k_flaperon
float k_lift_fuselage
float k_lift_tail
float k_lift_wing[2]
float k_pusher[2]
float k_rpm_pprz_pusher[3]
float k_rudder[3]
float m

◆ rot_wing_eff_sched_var_t

struct rot_wing_eff_sched_var_t

Definition at line 54 of file eff_scheduling_rot_wing.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 118 of file eff_scheduling_rot_wing_V2.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 127 of file eff_scheduling_rot_wing_V2.h.

Data Fields
float dFdu
float dMdu
float dMdud
float l

◆ wing_model

struct wing_model

Definition at line 134 of file eff_scheduling_rot_wing_V2.h.

Data Fields
float dLdtheta
float k0
float k1
float k2
float L

◆ RW_attitude

struct RW_attitude

Definition at line 142 of file eff_scheduling_rot_wing_V2.h.

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

◆ RW_skew

struct RW_skew

Definition at line 154 of file eff_scheduling_rot_wing_V2.h.

Data Fields
float cosr
float cosr2
float cosr3
float deg
float rad
float sinr
float sinr2
float sinr3

◆ RW_Model

struct RW_Model

Definition at line 164 of file eff_scheduling_rot_wing_V2.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

◆ EFF_MAT_COLS_NB

#define EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)

Definition at line 47 of file eff_scheduling_rot_wing_V2.h.

◆ EFF_MAT_ROWS_NB

#define EFF_MAT_ROWS_NB   6

Definition at line 33 of file eff_scheduling_rot_wing_V2.h.

◆ ELE_MAX_AS

#define ELE_MAX_AS   16.0

Definition at line 62 of file eff_scheduling_rot_wing_V2.h.

◆ ELE_MIN_AS

#define ELE_MIN_AS   8.8

Definition at line 58 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aD

#define RW_aD   2

Definition at line 41 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aE

#define RW_aE   1

Definition at line 40 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aN

#define RW_aN   0

Definition at line 39 of file eff_scheduling_rot_wing_V2.h.

◆ RW_ap

#define RW_ap   3

Definition at line 42 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aq

#define RW_aq   4

Definition at line 43 of file eff_scheduling_rot_wing_V2.h.

◆ RW_ar

#define RW_ar   5

Definition at line 44 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aX

#define RW_aX   0

Definition at line 36 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aY

#define RW_aY   1

Definition at line 37 of file eff_scheduling_rot_wing_V2.h.

◆ RW_aZ

#define RW_aZ   2

Definition at line 38 of file eff_scheduling_rot_wing_V2.h.

◆ RW_G_SCALE

#define RW_G_SCALE   1000.0f

Definition at line 50 of file eff_scheduling_rot_wing_V2.h.

◆ ZERO_ELE_PPRZ

#define ZERO_ELE_PPRZ   8000

Definition at line 54 of file eff_scheduling_rot_wing_V2.h.

Function Documentation

◆ eff_scheduling_rot_wing_init()

void eff_scheduling_rot_wing_init ( void  )

Definition at line 193 of file eff_scheduling_rot_wing.c.

References rot_wing_eff_sched_var_t::airspeed, rot_wing_eff_sched_var_t::airspeed2, rot_wing_eff_sched_var_t::cmd_elevator, rot_wing_eff_sched_var_t::cmd_pusher, rot_wing_eff_sched_var_t::cmd_pusher_scaled, rot_wing_eff_sched_var_t::cmd_T_mean_scaled, rot_wing_eff_sched_var_t::cosr, rot_wing_eff_sched_var_t::cosr2, rot_wing_eff_sched_param_t::DMdpprz_hover_roll, eff_sched_p, eff_sched_var, init_butterworth_2_low_pass(), init_RW_Model(), rot_wing_eff_sched_var_t::Ixx, rot_wing_eff_sched_param_t::Ixx_body, rot_wing_eff_sched_param_t::Ixx_wing, rot_wing_eff_sched_var_t::Iyy, rot_wing_eff_sched_param_t::Iyy_body, rot_wing_eff_sched_param_t::Iyy_wing, MAX_PPRZ, rot_wing_eff_sched_var_t::pitch_motor_dMdpprz, rot_wing_eff_sched_var_t::roll_motor_dMdpprz, rot_wing_eff_sched_var_t::sinr, rot_wing_eff_sched_var_t::sinr2, rot_wing_eff_sched_var_t::sinr3, skew_filt, update_attitude(), wing_position_cb(), wing_position_ev, WING_ROTATION_CAN_ROT_WING_ID, rot_wing_eff_sched_var_t::wing_rotation_deg, and rot_wing_eff_sched_var_t::wing_rotation_rad.

+ Here is the call graph for this function:

◆ eff_scheduling_rot_wing_periodic()

void eff_scheduling_rot_wing_periodic ( void  )

Definition at line 222 of file eff_scheduling_rot_wing.c.

References calc_G1_G2_RW(), eff_scheduling_rot_wing_schedule_liftd(), eff_scheduling_rot_wing_update_aileron_effectiveness(), eff_scheduling_rot_wing_update_airspeed(), eff_scheduling_rot_wing_update_cmd(), eff_scheduling_rot_wing_update_elevator_effectiveness(), eff_scheduling_rot_wing_update_flaperon_effectiveness(), eff_scheduling_rot_wing_update_hover_motor_effectiveness(), eff_scheduling_rot_wing_update_MMOI(), eff_scheduling_rot_wing_update_pusher_effectiveness(), eff_scheduling_rot_wing_update_rudder_effectiveness(), eff_scheduling_rot_wing_update_wing_angle(), ele_pref_sched(), sum_EFF_MAT_RW(), and update_attitude().

+ Here is the call graph for this function:

Variable Documentation

◆ airspeed_fake

float airspeed_fake
extern

Definition at line 75 of file eff_scheduling_rot_wing_V2.c.

Referenced by eff_scheduling_rot_wing_update_airspeed().

◆ airspeed_fake_on

bool airspeed_fake_on
extern

Definition at line 74 of file eff_scheduling_rot_wing_V2.c.

Referenced by eff_scheduling_rot_wing_update_airspeed().

◆ EFF_MAT_RW

float EFF_MAT_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
extern

Definition at line 68 of file eff_scheduling_rot_wing_V2.c.

Referenced by calc_model(), G1G2_oneloop(), and sum_EFF_MAT_RW().

◆ eff_sched_pusher_time

float eff_sched_pusher_time
extern

Definition at line 149 of file eff_scheduling_rot_wing.c.

Referenced by stabilization_indi_set_wls_settings().

◆ ele_eff

float ele_eff
extern

Definition at line 76 of file eff_scheduling_rot_wing_V2.c.

Referenced by calc_G1_G2_RW(), and init_RW_Model().

◆ ele_min

float ele_min
extern

Definition at line 77 of file eff_scheduling_rot_wing_V2.c.

Referenced by ele_pref_sched(), and oneloop_andi_enter().

◆ G1_RW

float G1_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
extern

Definition at line 67 of file eff_scheduling_rot_wing_V2.c.

Referenced by calc_G1_G2_RW(), and sum_EFF_MAT_RW().

◆ G2_RW

float G2_RW[EFF_MAT_COLS_NB]
extern

Definition at line 66 of file eff_scheduling_rot_wing_V2.c.

Referenced by calc_G1_G2_RW(), oneloop_andi_run(), and sum_EFF_MAT_RW().

◆ rotation_angle_setpoint_deg

float rotation_angle_setpoint_deg
extern

◆ rotation_cmd

int16_t rotation_cmd
extern

◆ RW

struct RW_Model RW
extern

Definition at line 77 of file eff_scheduling_rot_wing_V2.c.

Referenced by calc_G1_G2_RW(), calc_model(), eff_scheduling_rot_wing_update_airspeed(), eff_scheduling_rot_wing_update_wing_angle(), ele_pref_sched(), init_RW_Model(), oneloop_andi_run(), send_oneloop_debug(), sum_EFF_MAT_RW(), and update_attitude().