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Rotwing Demo (#3396)

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* First push

* clean up and frequency adjustment
This commit is contained in:
Tomaso Maria Luigi De Ponti
2024-10-18 19:39:31 +02:00
committed by GitHub
parent 5ae4fd913f
commit 249c0285b6
1 changed files with 17 additions and 1 deletions
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conf/flight_plans/tudelft/oneloop_cyberzoo.xml
+17 -1
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@@ -8,7 +8,14 @@
#include "modules/radio_control/radio_control.h"
#include "modules/ahrs/ahrs.h"
#include "modules/gps/gps.h"
<!-- #include "sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h" -->
inline static void set_demo_skew(void) {
float amplitude_skew_demo = (rotwing_demo_max_skew - rotwing_demo_min_skew) / 2;
float offset_skew_demo = (rotwing_demo_max_skew + rotwing_demo_min_skew) / 2;
float time_skew_demo = (float) rotwing_demo_timestep / NAVIGATION_FREQUENCY;
float angle_skew_demo = amplitude_skew_demo * (-cosf(2 * M_PI * rotwing_demo_freq_skew * time_skew_demo)) + offset_skew_demo;
rotwing_state.sp_skew_angle_deg = angle_skew_demo;
rotwing_demo_timestep++;
}
</header>
<waypoints>
<waypoint lat="51.990631" lon="4.376796" name="HOME"/>
@@ -39,6 +46,12 @@
<corner name="p4"/>
</sector>
</sectors>
<variables>
<variable var="rotwing_demo_max_skew" init="50.0f" type="float" min="0" step="1" max="80" shortname="demo_max_skew"/>
<variable var="rotwing_demo_min_skew" init="0.0f" type="float" min="0" step="1" max="80" shortname="demo_min_skew"/>
<variable var="rotwing_demo_freq_skew" init="0.1f" type="float" min="0.01" step="0.01" max="0.5" shortname="demo_freq_skew"/>
<variable var="rotwing_demo_timestep" init="0" type="uint32_t"/>
</variables>
<exceptions>
<!--Soft Geofencing (go back to Standby)-->
<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT 20.0) @AND
@@ -96,6 +109,9 @@
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
</block>
<block key="d" name="Standby Demo" on_enter="rotwing_state.force_skew=true" on_exit="rotwing_state.force_skew=false; rotwing_demo_timestep = 0">
<stay wp="STDBY" pre_call="set_demo_skew()"/>
</block>
<block name="go_p5">
<stay wp="p5"/>
</block>