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

Data Structures

struct  rotwing_eff_sched_param_t
struct  rotwing_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 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
#define ZERO_ELE_PPRZ   8000
#define ELE_MIN_AS   8.8
#define ELE_MAX_AS   16.0

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
int G2_on
int thrust_curve
float temp_mQ_k
bool airspeed_fake_on
float airspeed_fake
float ele_eff
float roll_eff
float yaw_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_rotwing_nB.h.

Data Structure Documentation

◆ rotwing_eff_sched_param_t

struct rotwing_eff_sched_param_t

Definition at line 31 of file eff_scheduling_rotwing.h.

Data Fields
float d_rudder_d_pprz
float DMdpprz_hover_pitch[2]
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

◆ 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

◆ wing_model

struct wing_model

Definition at line 146 of file eff_scheduling_rotwing_nB.h.

Data Fields
float dLdtheta
float k0
float k1
float k2
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_skew

struct RW_skew

Definition at line 166 of file eff_scheduling_rotwing_nB.h.

Data Fields
float cosr
float cosr2
float cosr3
float cosr4
float deg
float rad
float sinr
float sinr2
float sinr3
float sinr4

◆ 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_rotwing_nB.h.

◆ COMMAND_ROLL

#define COMMAND_ROLL   COMMANDS_NB+1

Definition at line 51 of file eff_scheduling_rotwing_nB.h.

◆ COMMANDS_NB_VIRTUAL

#define COMMANDS_NB_VIRTUAL   0

Definition at line 47 of file eff_scheduling_rotwing_nB.h.

◆ EFF_MAT_COLS_NB

#define EFF_MAT_COLS_NB   (COMMANDS_NB_REAL + COMMANDS_NB_VIRTUAL)

Definition at line 59 of file eff_scheduling_rotwing_nB.h.

◆ EFF_MAT_ROWS_NB

#define EFF_MAT_ROWS_NB   6

Definition at line 33 of file eff_scheduling_rotwing_nB.h.

◆ ELE_MAX_AS

#define ELE_MAX_AS   16.0

Definition at line 74 of file eff_scheduling_rotwing_nB.h.

Referenced by ele_pref_sched().

◆ ELE_MIN_AS

#define ELE_MIN_AS   8.8

Definition at line 70 of file eff_scheduling_rotwing_nB.h.

Referenced by ele_pref_sched(), and G1G2_oneloop().

◆ RW_aD

#define RW_aD   2

Definition at line 41 of file eff_scheduling_rotwing_nB.h.

◆ RW_aE

#define RW_aE   1

Definition at line 40 of file eff_scheduling_rotwing_nB.h.

◆ RW_aN

#define RW_aN   0

Definition at line 39 of file eff_scheduling_rotwing_nB.h.

◆ RW_ap

#define RW_ap   3

Definition at line 42 of file eff_scheduling_rotwing_nB.h.

◆ RW_aq

#define RW_aq   4

Definition at line 43 of file eff_scheduling_rotwing_nB.h.

◆ RW_ar

#define RW_ar   5

Definition at line 44 of file eff_scheduling_rotwing_nB.h.

◆ RW_aX

#define RW_aX   0

Definition at line 36 of file eff_scheduling_rotwing_nB.h.

◆ RW_aY

#define RW_aY   1

Definition at line 37 of file eff_scheduling_rotwing_nB.h.

◆ RW_aZ

#define RW_aZ   2

Definition at line 38 of file eff_scheduling_rotwing_nB.h.

◆ RW_G_SCALE

#define RW_G_SCALE   1000.0f

Definition at line 62 of file eff_scheduling_rotwing_nB.h.

◆ ZERO_ELE_PPRZ

#define ZERO_ELE_PPRZ   8000

Definition at line 66 of file eff_scheduling_rotwing_nB.h.

Referenced by ele_pref_sched().

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

◆ airspeed_fake

float airspeed_fake
extern

Definition at line 86 of file eff_scheduling_rotwing_nB.c.

◆ airspeed_fake_on

bool airspeed_fake_on
extern

Definition at line 85 of file eff_scheduling_rotwing_nB.c.

◆ 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.

◆ eff_sched_pusher_time

float eff_sched_pusher_time
extern

Definition at line 172 of file eff_scheduling_rotwing.c.

◆ ele_eff

float ele_eff
extern

Definition at line 87 of file eff_scheduling_rotwing_nB.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.

◆ roll_eff

float roll_eff
extern

Definition at line 82 of file eff_scheduling_plusquad.c.

◆ 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 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.

◆ yaw_eff

float yaw_eff
extern

Definition at line 83 of file eff_scheduling_plusquad.c.