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4b6c185516
The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach, two separated controls are used for hovering (INDI) and forward flight (PID). The mixing is done by a dedicated module and the autopilot is customized to support the specific modes. A simple PID controller is added to the rotorcraft firmware as it is not possible to directly reuse the one from fixedwing firmware. In a future work, a full INDI version might be used, but this approach can still serves as an example of customized autopilot. A simulation model for JSBSim is also provided.
24 lines
834 B
XML
24 lines
834 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="control_mixing_heewing" dir="ctrl" task="control">
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<doc>
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<description>Control mixing specific to the Heewing T1 Ranger</description>
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</doc>
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<header>
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<file name="control_mixing_heewing.h"/>
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</header>
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<init fun="control_mixing_heewing_init()"/>
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<makefile>
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<file name="control_mixing_heewing.c"/>
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<test firmware="rotorcraft">
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<define name="INDI_OUTPUTS" value="4"/>
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<define name="INDI_NUM_ACT" value="4"/>
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<define name="COMMAND_MOTOR_RIGHT" value="0"/>
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<define name="COMMAND_MOTOR_LEFT" value="1"/>
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<define name="COMMAND_MOTOR_TAIL" value="2"/>
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<define name="COMMAND_TILT" value="3"/>
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<define name="ACTUATORS_NB" value="4"/>
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<define name="PERIODIC_FREQUENCY" value="500"/>
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</test>
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</makefile>
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</module>
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