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[ctrl] Morphing quad-plane control eff (#3124)

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This commit is contained in:
Christophe De Wagter
2023-10-06 14:06:04 +02:00
committed by GitHub
parent 6983ecd5bb
commit 5af84a4851
4 changed files with 344 additions and 1 deletions
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conf/modules/ctrl_eff_sched_rot_wing.xml
+47
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ctrl_eff_sched_rot_wing" dir="ctrl">
<doc>
<description>The control effectiveness scheduler for the rotating wing drone type</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>
<settings>
<dl_settings>
<dl_settings NAME="Eff_sched">
<dl_setting var="rotation_angle_setpoint_deg" min="0" step="1" max="90" shortname="rotation" module="modules/ctrl/ctrl_eff_sched_rot_wing"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="ctrl_eff_sched_rot_wing.h"/>
</header>
<init fun="ctrl_eff_sched_rot_wing_init()"/>
<periodic fun="ctrl_eff_sched_rot_wing_periodic()" freq="10.0"/>
<makefile>
<file name="ctrl_eff_sched_rot_wing.c"/>
<test>
<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_ROLL_ARM" value="1"/>
<define name="ROT_WING_EFF_SCHED_PITCH_ARM" value="1"/>
<define name="ROT_WING_EFF_SCHED_HOVER_DF_DPPRZ" value="1"/>
<define name="ROT_WING_EFF_SCHED_HOVER_ROLL_PITCH_COEF" value="{1,1}"/>
</test>
</makefile>
</module>