eff_scheduling_falcon module

Interpolation of control effectivenss matrix of the Falcon hybride plane

The configuation of Falcon is a tailsitter with 4 propellers mounted as a regular quadcopter and a wing in the middle with 2 ailevons. The ailevons are only used for roll and pitch with sufficient forward speed. This module is in charge of disabling them at low speed / high angle of attack when they have no more efficiency.

Example for airframe file

Add to your firmware section:

<module name="eff_scheduling_falcon"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• eff_scheduling_falcon_init()

Periodic Functions

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

• eff_scheduling_falcon_periodic()
  • Frequency in Hz: 20.0
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• eff_scheduling_falcon_report()
  • Frequency in Hz: 0.5
  • Autorun: FALSE
    Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

• eff_scheduling_falcon.h

Source Files

• modules/ctrl/eff_scheduling_falcon.c

Raw eff_scheduling_falcon.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="eff_scheduling_falcon" dir="ctrl">
  <doc>
    <description>
      Interpolation of control effectivenss matrix of the Falcon hybride plane
 
      The configuation of Falcon is a tailsitter with 4 propellers mounted as a
      regular quadcopter and a wing in the middle with 2 ailevons. The ailevons
      are only used for roll and pitch with sufficient forward speed. This module
      is in charge of disabling them at low speed / high angle of attack when
      they have no more efficiency.
    </description>
  </doc>
 
  <header>
    <file name="eff_scheduling_falcon.h"/>
  </header>
  <init fun="eff_scheduling_falcon_init()"/>
  <periodic fun="eff_scheduling_falcon_periodic()" freq="20.0"/>
  <periodic fun="eff_scheduling_falcon_report()" freq="0.5" autorun="FALSE"/> <!-- TRUE  FALSE-->
  <makefile target="ap|nps" firmware="rotorcraft" >
    <file name="eff_scheduling_falcon.c"/>
  </makefile>
</module>