eff_scheduling_rot_wing module

T

he control effectiveness scheduler for the rotating wing quadplane drone type

• it requires a servo called ROTATION_MECH

Example for airframe file

Add to your firmware section:

<module name="eff_scheduling_rot_wing"/>

Module configuration options

Airframe file section

• section name: ROT_WING prefix: ROT_WING_EFF_SCHED_
  • name IXX_BODY value: 0
  • name IYY_BODY value: 0
  • name IZZ value: 0
  • name IXX_WING value: 0
  • name IYY_WING value: 0
  • name M value: 0
  • name ROLL_ARM value: 0
  • name PITCH_ARM value: 0
  • name HOVER_DF_DPPRZ value: 0
  • name HOVER_ROLL_PITCH_COEF value: {0,0}

Module functions

Init Functions

These initialization functions are called once on startup.

• eff_scheduling_rot_wing_init()

Periodic Functions

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

• eff_scheduling_rot_wing_periodic()
  • Frequency in Hz: 10.0
  • 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_rot_wing.h

Source Files

• modules/ctrl/eff_scheduling_rot_wing.c

Raw eff_scheduling_rot_wing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="eff_scheduling_rot_wing" dir="ctrl">
  <doc>
    <description>T
      he control effectiveness scheduler for the rotating wing quadplane drone type
     - it requires a servo called ROTATION_MECH
    </description>
    <section name="ROT_WING" prefix="ROT_WING_EFF_SCHED_">
      <define name="IXX_BODY" value="0"  description=""/>
      <define name="IYY_BODY" value="0"  description=""/>
      <define name="IZZ" value="0"       description=""/>
      <define name="IXX_WING" value="0"  description=""/>
      <define name="IYY_WING" value="0"  description=""/>
      <define name="M" value="0"         description=""/>
      <define name="ROLL_ARM" value="0"  description=""/>
      <define name="PITCH_ARM" value="0" description=""/>
      <define name="HOVER_DF_DPPRZ" value="0" description=""/>
      <define name="HOVER_ROLL_PITCH_COEF" value="{0,0}" description=""/>
    </section>
  </doc>
  <header>
    <file name="eff_scheduling_rot_wing.h"/>
  </header>
  <init fun="eff_scheduling_rot_wing_init()"/>
  <periodic fun="eff_scheduling_rot_wing_periodic()" freq="10.0"/>
  <makefile>
    <file name="eff_scheduling_rot_wing.c"/>
    <test>
      <define name="ACTUATORS_NB" value="10"/>
      <define name="SERVO_ROTATION_MECH_IDX" value="8"/>
      <define name="SERVO_MOTOR_FRONT" value="0"/>
      <define name="SERVO_MOTOR_RIGHT" value="1"/>
      <define name="SERVO_MOTOR_BACK" value="2"/>
      <define name="SERVO_MOTOR_LEFT" value="3"/>
      <define name="SERVO_MOTOR_PUSH" value="8"/>
      <define name="SERVO_SERVO_ELEVATOR" value="5"/>
      <define name="INDI_NUM_ACT" value="4"/>
      <define name="INDI_OUTPUTS" value="3"/>
      <define name="ROT_WING_EFF_SCHED_IXX_BODY" value="1"/>
      <define name="ROT_WING_EFF_SCHED_IYY_BODY" value="1"/>
      <define name="ROT_WING_EFF_SCHED_IZZ" value="1"/>
      <define name="ROT_WING_EFF_SCHED_IXX_WING" value="1"/>
      <define name="ROT_WING_EFF_SCHED_IYY_WING" value="1"/>
      <define name="ROT_WING_EFF_SCHED_M" value="1"/>
      <define name="ROT_WING_EFF_SCHED_DM_DPPRZ_HOVER_PITCH" value="1"/>
      <define name="ROT_WING_EFF_SCHED_DM_DPPRZ_HOVER_ROLL" value="1"/>
      <define name="ROT_WING_EFF_SCHED_HOVER_ROLL_PITCH_COEF" value="{1,1}"/>
      <define name="ROT_WING_EFF_SCHED_HOVER_ROLL_ROLL_COEF" value="{1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_ELEVATOR" value="{1,1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_RUDDER" value="{1,1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_AILERON" value="1"/>
      <define name="ROT_WING_EFF_SCHED_K_FLAPERON" value="1"/>
      <define name="ROT_WING_EFF_SCHED_K_PUSHER" value="{1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_ELEVATOR_DEFLECTION" value="{1,1}"/>
      <define name="ROT_WING_EFF_SCHED_D_RUDDER_D_PPRZ" value="1"/>
      <define name="ROT_WING_EFF_SCHED_K_RPM_PPRZ_PUSHER" value="{1,1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_LIFT_WING" value="{1,1}"/>
      <define name="ROT_WING_EFF_SCHED_K_LIFT_FUSELAGE" value="1"/>
      <define name="ROT_WING_EFF_SCHED_K_LIFT_TAIL" value="1"/>
    </test>
  </makefile>
</module>