rot_wing_automation module

Functions to automate the navigation and guidance of the rotating wing drone

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="rot_wing_automation"/>

Module configuration options

Airframe file section

• section name: ROT_WING_AUTOMATION prefix: ROT_WING_AUTOMATION_
  • name TRANS_ACCEL value: 1.0
    Description: Longitudinal maximum acceleration during a transition
  • name TRANS_DECEL value: 0.5
    Description: Longitudinal maximum deceleration during a transition
  • name TRANS_LENGTH value: 200.0
    Description: Maximum transition distance (at which to draw waypoints)
  • name TRANS_AIRSPEED value:
    Description: Airspeed threshold above which the transiton is considered complete
  • name ROT_WING_AUTOMATION_WIND_FILT_CUTOFF value: 0.001
    Description: Wind low-pass filtering cutoff frequency

Module functions

Init Functions

These initialization functions are called once on startup.

• init_rot_wing_automation()

Periodic Functions

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

• periodic_rot_wing_automation()
  • Frequency in Hz: 10.
  • 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

• rot_wing_automation.h

Source Files

• modules/rot_wing_drone/rot_wing_automation.c

Raw rot_wing_automation.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="rot_wing_automation" dir="rot_wing_drone">
  <doc>
    <description>Functions to automate the navigation and guidance of the rotating wing drone</description>
    <section name="ROT_WING_AUTOMATION" prefix="ROT_WING_AUTOMATION_">
      <define name="TRANS_ACCEL" value="1.0" description="Longitudinal maximum acceleration during a transition"/>
      <define name="TRANS_DECEL" value="0.5" description="Longitudinal maximum deceleration during a transition"/>
      <define name="TRANS_LENGTH" value="200.0" description="Maximum transition distance (at which to draw waypoints)"/>
      <define name="TRANS_AIRSPEED" value="" description="Airspeed threshold above which the  transiton is considered complete"/>
      <define name="ROT_WING_AUTOMATION_WIND_FILT_CUTOFF" value="0.001" description="Wind low-pass filtering cutoff frequency"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="transition">
        <dl_setting var="rot_wing_a.trans_accel" min="0.1" max="5.0" step="0.1" shortname="trans_accel" param="ROT_WING_AUTOMATION_TRANS_ACCEL"/>
        <dl_setting var="rot_wing_a.trans_decel" min="0.1" max="5.0" step="0.1" shortname="trans_decel" param="ROT_WING_AUTOMATION_TRANS_DECEL"/>
        <dl_setting var="rot_wing_a.trans_length" min="10" max="500." step="1.0" shortname="trans_distance" param="ROT_WING_AUTOMATION_TRANS_LENGTH"/>
        <dl_setting var="rot_wing_a.trans_airspeed" min="10.0" max="20.0" step="0.1" shortname="trans_airspeed" param="ROT_WING_AUTOMATION_TRANS_AIRSPEED"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="rot_wing_automation.h"/>
  </header>
    <init fun="init_rot_wing_automation()"/>
    <periodic fun="periodic_rot_wing_automation()" freq="10."/>
  <makefile>
    <file name="rot_wing_automation.c"/>
  </makefile>
</module>