[scheduling] harmonize efficiency scheduling modules (#3182)

- harmonize name
- make a 'generic' module with basic linear scheduling
- old ctrl_effectiveness_scheduling was very specific to cyfoam, so
  renamed
- add falcon scheduler, related airframe will come later

conf/modules/ctrl_effectiveness_scheduling.xml

@@ -1,22 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="ctrl_effectiveness_scheduling" dir="ctrl">
-  <doc>
-    <description>
-      Interpolation of control effectivenss matrix.
-      This is necessary if the vehicle has different operating points,
-      with significantly different control effectivenss. 
-      
-      If instead using online adaptation is an option, be sure to 
-      not use this module at the same time!
-    </description>
-  </doc>
-  <header>
-    <file name="ctrl_effectiveness_scheduling.h"/>
-  </header>
-  <init fun="ctrl_eff_scheduling_init()"/>
-  <periodic fun="ctrl_eff_scheduling_periodic()" freq="20"/>
-  <makefile>
-    <file name="ctrl_effectiveness_scheduling.c"/>
-  </makefile>
-</module>

conf/modules/eff_scheduling_cyfoam.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="eff_scheduling_cyfoam" dir="ctrl">
+  <doc>
+    <description>
+      Interpolation of control effectiveness matrix for Cyfoam tailsitter.
+
+      The configuration of Cyfoam is a tailsitter with 2 propellers
+      blowing a wing with 2 flaps. A minimum amont of thrust is thus
+      required to have enough control on moments, especially pitch moment.
+
+      Two scheduling functions are available, controlled by the flag
+      INDI_FUNCTIONS_RC_CHANNEL, which indicates the RC channel to be used.
+    </description>
+  </doc>
+  <header>
+    <file name="eff_scheduling_cyfoam.h"/>
+  </header>
+  <init fun="eff_scheduling_cyfoam_init()"/>
+  <periodic fun="eff_scheduling_cyfoam_periodic()" freq="20"/>
+  <makefile>
+    <file name="eff_scheduling_cyfoam.c"/>
+  </makefile>
+</module>

conf/modules/eff_scheduling_falcon.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<module name="eff_scheduling_falcon" dir="ctrl">
+  <doc>
+    <description>
+      Interpolation of control effectivenss matrix of the Falcon hybride plane
+
+      The configuation of Falcon is a tailsitter with 4 propellers mounted as a
+      regular quadcopter and a wing in the middle with 2 ailevons. The ailevons
+      are only used for roll and pitch with sufficient forward speed. This module
+      is in charge of disabling them at low speed / high angle of attack when
+      they have no more efficiency.
+    </description>
+  </doc>
+ 
+  <header>
+    <file name="eff_scheduling_falcon.h"/>
+  </header>
+  <init fun="eff_scheduling_falcon_init()"/>
+  <periodic fun="eff_scheduling_falcon_periodic()" freq="20.0"/>
+  <periodic fun="eff_scheduling_falcon_report()" freq="0.5" autorun="FALSE"/> <!-- TRUE  FALSE-->
+  <makefile target="ap|nps" firmware="rotorcraft" >
+    <file name="eff_scheduling_falcon.c"/>
+  </makefile>
+</module>

conf/modules/eff_scheduling_generic.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="eff_scheduling_generic" dir="ctrl">
+  <doc>
+    <description>
+      Interpolation of control effectivenss matrix.
+      This is necessary if the vehicle has different operating points,
+      with significantly different control effectivenss.
+      Interpolation is linear between two points, usually hover and
+      forward conditions.
+      
+      If instead using online adaptation is an option, be sure to 
+      not use this module at the same time!
+    </description>
+  </doc>
+  <header>
+    <file name="eff_scheduling_generic.h"/>
+  </header>
+  <init fun="eff_scheduling_generic_init()"/>
+  <periodic fun="eff_scheduling_generic_periodic()" freq="20"/>
+  <makefile>
+    <file name="eff_scheduling_generic.c"/>
+  </makefile>
+</module>

conf/modules/eff_scheduling_rot_wing.xml

@@ -1,7 +1,8 @@
 <!DOCTYPE module SYSTEM "module.dtd">
-<module name="ctrl_eff_sched_rot_wing" dir="ctrl">
+<module name="eff_scheduling_rot_wing" dir="ctrl">
   <doc>
-    <description>The control effectiveness scheduler for the rotating wing quadplane drone type
+    <description>T
+      he control effectiveness scheduler for the rotating wing quadplane drone type
      - it requires a servo called ROTATION_MECH
     </description>
     <section name="ROT_WING" prefix="ROT_WING_EFF_SCHED_">
@@ -18,12 +19,12 @@
     </section>
   </doc>
   <header>
-    <file name="ctrl_eff_sched_rot_wing.h"/>
+    <file name="eff_scheduling_rot_wing.h"/>
   </header>
-  <init fun="ctrl_eff_sched_rot_wing_init()"/>
-  <periodic fun="ctrl_eff_sched_rot_wing_periodic()" freq="10.0"/>
+  <init fun="eff_scheduling_rot_wing_init()"/>
+  <periodic fun="eff_scheduling_rot_wing_periodic()" freq="10.0"/>
   <makefile>
-    <file name="ctrl_eff_sched_rot_wing.c"/>
+    <file name="eff_scheduling_rot_wing.c"/>
     <test>
       <define name="ACTUATORS_NB" value="10"/>
       <define name="SERVO_ROTATION_MECH" value="8"/>