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Eff_scheduling update (#3062)

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* Eff_scheduling update

* add setting to differentiate front and back wing

* back wing pitch eff scaling

* actually implement back wing pitch eff

* fix

* fix mistake setting

* add some comments

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
Christophe De Wagter
2023-09-09 11:04:21 +02:00
committed by GitHub
parent 13f2d21c8f
commit 10fedcc487
3 changed files with 39 additions and 0 deletions
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conf/modules/eff_scheduling_nederdrone.xml
+3
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@@ -15,9 +15,12 @@ not use this module at the same time!</description>
<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>
sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
+32
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@@ -56,11 +56,19 @@ not use this module at the same time!
float trim_elevator = INDI_SCHEDULING_TRIM_ELEVATOR;
float trim_flaps = INDI_SCHEDULING_TRIM_FLAPS;
// Factor that changes cost of the flaps and motors if v>15.0 m/s
// Higher factor means prefer using the flaps
float pref_flaps_factor = INDI_SCHEDULING_PREF_FLAPS_FACTOR;
float indi_Wu_original[INDI_NUM_ACT] = STABILIZATION_INDI_WLS_WU;
bool all_act_fwd_sched = false;
int32_t use_scheduling = 1;
float thrust_eff_scaling = 1.0;
float backwing_thrust_eff_scaling = 1.0;
float backwing_pitch_eff_scaling = 1.0;
static float g_forward[4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL_FWD, STABILIZATION_INDI_G1_PITCH_FWD, STABILIZATION_INDI_G1_YAW_FWD, STABILIZATION_INDI_G1_THRUST_FWD};
@@ -163,6 +171,10 @@ void schdule_control_effectiveness(void) {
} else {
g1g2[1][i] = g_hover[1][i] * (1.0 - pitch_ratio) + g_forward[1][i] * pitch_ratio * airspeed_pitch_eff * airspeed_pitch_eff / (16.0*16.0);
}
// With this factor the pitch effectiveness of the back wing can be scaled
if( (i ==2) || (i==3)) {
g1g2[1][i] *= backwing_pitch_eff_scaling;
}
//Yaw
g1g2[2][i] = g_hover[2][i] * (1.0 - ratio) + g_forward[2][i] * ratio;
@@ -192,6 +204,10 @@ void schdule_control_effectiveness(void) {
// Thrust
g1g2[3][i] = g_hover[3][i] * (1.0 - ratio_spec_force) + g_forward[3][i] * ratio_spec_force;
g1g2[3][i] *= thrust_eff_scaling;
// With this factor the thrust effectiveness of the back wing can be scaled
if( (i ==2) || (i==3)) {
g1g2[3][i] *= backwing_thrust_eff_scaling;
}
}
bool low_airspeed = stateGetAirspeed_f() < INDI_SCHEDULING_LOW_AIRSPEED;
@@ -206,4 +222,20 @@ void schdule_control_effectiveness(void) {
sched_ratio_tip_props = pitch_offset / pitch_range_deg;
}
Bound(sched_ratio_tip_props, 0.0, 1.0);
// Blance the cost of using motors and aerodynamic surfaces
if(airspeed > 15.0) {
uint8_t i;
for (i = 0; i < 4; i++) {
indi_Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
}
for (i = 4; i < 8; i++) {
indi_Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
}
} else {
uint8_t i;
for (i = 0; i < 8; i++) {
indi_Wu[i] = indi_Wu_original[i];
}
}
}
sw/airborne/modules/ctrl/eff_scheduling_nederdrone.h
+4
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@@ -46,6 +46,8 @@ extern float sched_tip_prop_lower_pitch_limit_deg;
extern bool sched_tip_props_always_on;
// Setting to scale the thrust effectiveness
extern float thrust_eff_scaling;
extern float backwing_thrust_eff_scaling;
extern float backwing_pitch_eff_scaling;
// Schedule all forward actuators with airspeed instead of only the flaps
extern bool all_act_fwd_sched;
@@ -54,4 +56,6 @@ extern bool all_act_fwd_sched;
extern float trim_elevator;
extern float trim_flaps;
extern float pref_flaps_factor;
#endif // EFF_SCHEDULING_NEDERDRONE_H