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[modules] wing-rotation controller with servo (#3143)

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* [modules] wing-rotation controller with servo
This commit is contained in:
Christophe De Wagter
2023-11-09 06:10:27 -08:00
committed by GitHub
parent cc071e1ca7
commit 8d40909aad
6 changed files with 760 additions and 1 deletions
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conf/modules/wing_rotation_controller_servo.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="wing_rotation_controller_servo" dir="rot_wing_drone">
<doc>
<description>Module to control wing rotation servo command based on prefered angle setpoint</description>
</doc>
<settings>
<dl_settings NAME="wing_rotation">
<dl_settings NAME="wing_rot">
<dl_setting MAX="90" MIN="0" STEP="1" VAR="wing_rotation_controller.wing_angle_deg_sp" shortname="wing_sp_deg"/>
<dl_setting MAX="0.01" MIN="0" STEP="0.0001" VAR="wing_rotation_controller.wing_rotation_first_order_dynamics" shortname="first_dyn"/>
<dl_setting MAX="0.01" MIN="0" STEP="0.0001" VAR="wing_rotation_controller.wing_rotation_second_order_dynamics" shortname="second_dyn"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="wing_rotation_controller_servo.h"/>
</header>
<init fun="wing_rotation_init()"/>
<periodic fun="wing_rotation_periodic()" freq="1.0"/>
<periodic fun="wing_rotation_event()"/>
<makefile>
<configure name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" default="ADC_5" case="lower|upper"/>
<define name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" value="$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
<define name="USE_$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
<file name="wing_rotation_controller_servo.c"/>
</makefile>
</module>