eff_scheduling_generic module

Interpolation of control effectivenss matrix.

This is necessary if the vehicle has different operating points, with significantly different control effectivenss. Interpolation is linear between two points, usually hover and forward conditions.

If instead using online adaptation is an option, be sure to not use this module at the same time!

Example for airframe file

Add to your firmware section:

<module name="eff_scheduling_generic"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• eff_scheduling_generic_init()

Periodic Functions

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

• eff_scheduling_generic_periodic()
  • Frequency in Hz: 20
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• eff_scheduling_generic.h

Source Files

• modules/ctrl/eff_scheduling_generic.c

Raw eff_scheduling_generic.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="eff_scheduling_generic" dir="ctrl">
  <doc>
    <description>
      Interpolation of control effectivenss matrix.
      This is necessary if the vehicle has different operating points,
      with significantly different control effectivenss.
      Interpolation is linear between two points, usually hover and
      forward conditions.
      
      If instead using online adaptation is an option, be sure to 
      not use this module at the same time!
    </description>
  </doc>
  <header>
    <file name="eff_scheduling_generic.h"/>
  </header>
  <init fun="eff_scheduling_generic_init()"/>
  <periodic fun="eff_scheduling_generic_periodic()" freq="20"/>
  <makefile>
    <file name="eff_scheduling_generic.c"/>
  </makefile>
</module>