rotwing_state module

This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan

Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.

Example for airframe file

Add to your firmware section:

<module name="rotwing_state"/>

Module configuration options

Airframe file section

• section name: ROTWING_STATE prefix: ROTWING_STATE_
  • name USE_ROTATION_REF_MODEL value: FALSE
    Description: Slow down the wing rotation with a reference model

Module functions

Init Functions

These initialization functions are called once on startup.

• init_rotwing_state()

Periodic Functions

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

• periodic_rotwing_state()
  • Frequency in Hz: 50
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.
• rotwing_state_skew_actuator_periodic()
  • Running at maximum module frequency.
  • 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

• rotwing_state.h

Source Files

• modules/rot_wing_drone/rotwing_state.c

Raw rotwing_state.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="rotwing_state" dir="rot_wing_drone">
  <doc>
    <description>This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan. Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.</description>
    <section name="ROTWING_STATE" prefix="ROTWING_STATE_">
      <define name="USE_ROTATION_REF_MODEL" value="FALSE" description="Slow down the wing rotation with a reference model"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="RotWingState">
        <dl_setting var="rotwing_state_skewing.wing_angle_deg_sp" min="0" step="1" max="90" shortname="skew angle"/>
        <dl_setting var="rotwing_state_skewing.force_rotation_angle" min="0" step="1" max="1" values="FALSE|TRUE" shortname="force_skew"/>
        <dl_setting var="rotwing_state_max_hover_speed" min="5" step="0.5" max="25" shortname="hover_speed"/>
        <dl_setting var="hover_motors_active" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_active"/>
        <dl_setting var="bool_disable_hover_motors" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_disable"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="rotwing_state.h"/>
  </header>
    <init fun="init_rotwing_state()"/>
    <periodic fun="periodic_rotwing_state()" freq="50"/>
    <periodic fun="rotwing_state_skew_actuator_periodic()"/>
  <makefile>
    <file name="rotwing_state.c"/>
  </makefile>
</module>