eff_scheduling_nederdrone module

Interpolation of control effectivenss matrix

of the Nederdrone.

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_nederdrone"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• ctrl_eff_scheduling_init()

Periodic Functions

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

• ctrl_eff_scheduling_periodic()
  • Frequency in Hz: 20.0
  • 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_nederdrone.h

Source Files

• modules/ctrl/eff_scheduling_nederdrone.c

Raw eff_scheduling_nederdrone.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="eff_scheduling_nederdrone" dir="ctrl">
  <doc>
    <description>Interpolation of control effectivenss matrix
of the Nederdrone.
 
If instead using online adaptation is an option, be sure to
not use this module at the same time!</description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="eff_scheduling">
        <dl_setting shortname="tip_prop_always_on" var="sched_tip_props_always_on" min="0" step="1" max="1"/>
        <dl_setting shortname="tip_prop_lower_pitch" var="sched_tip_prop_lower_pitch_limit_deg" min="-90" step="1" max="0"/>
        <dl_setting shortname="tip_prop_upper_pitch" var="sched_tip_prop_upper_pitch_limit_deg" min="-90" step="1" max="0"/>
        <dl_setting shortname="sched_ratio_tip_props" var="sched_ratio_tip_props" min="0" step="0.1" max="1"/>
        <dl_setting shortname="thrust_eff_scaling" var="thrust_eff_scaling" min="0.6" step="0.01" max="1.4"/>
        <dl_setting shortname="back_thrust_scale" var="backwing_thrust_eff_scaling" min="0.6" step="0.01" max="1.4"/>
        <dl_setting shortname="back_pitch_scale" var="backwing_pitch_eff_scaling" min="0.5" step="0.01" max="1.5"/>
        <dl_setting shortname="all_act_fwd_sched" var="all_act_fwd_sched" min="0" step="1" max="1" values="OFF|ON"/>
        <dl_setting shortname="trim_elevator" var="trim_elevator" min="-5000" step="1" max="5000"/>
        <dl_setting shortname="trim_flaps" var="trim_flaps" min="-5000" step="1" max="5000"/>
        <dl_setting shortname="pref_flaps_factor" var="pref_flaps_factor" min="0.1" step="0.1" max="100"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="eff_scheduling_nederdrone.h"/>
  </header>
  <init fun="ctrl_eff_scheduling_init()"/>
  <periodic fun="ctrl_eff_scheduling_periodic()" freq="20.0"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="eff_scheduling_nederdrone.c"/>
  </makefile>
</module>