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https://github.com/paparazzi/paparazzi.git
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1f08f638ce
* small changes * increase eff scheduling freq to 500Hz * remove freq from eff sched xml * fix mistake
83 lines
4.3 KiB
XML
83 lines
4.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="eff_scheduling_rotwing" dir="ctrl">
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<doc>
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<description>T
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he control effectiveness scheduler for the rotating wing quadplane drone type
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- it requires a servo called ROTATION_MECH
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</description>
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<section name="ROTWING" prefix="ROTWING_EFF_SCHED_">
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<define name="IXX_BODY" value="0" description=""/>
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<define name="IYY_BODY" value="0" description=""/>
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<define name="IZZ" value="0" description=""/>
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<define name="IXX_WING" value="0" description=""/>
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<define name="IYY_WING" value="0" description=""/>
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<define name="M" value="0" description=""/>
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<define name="ROLL_ARM" value="0" description=""/>
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<define name="PITCH_ARM" value="0" description=""/>
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<define name="HOVER_DF_DPPRZ" value="0" description=""/>
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<define name="HOVER_ROLL_PITCH_COEF" value="{0,0}" description=""/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="eff_sched">
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<dl_setting var="eff_sched_pusher_time" min="0.002" step="0.002" max="3." shortname="push_time"/>
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<dl_setting var="rw_flap_offset" min="-9600" step="10" max="9600" shortname="flap_offset"/>
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<dl_setting var="eff_sched_p.Iyy_body" min="0" step="0.1" max="30" shortname="Iyy_body"/>
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<dl_setting var="eff_sched_p.Ixx_body" min="0" step="0.1" max="30" shortname="Ixx_body"/>
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<dl_setting var="eff_sched_p.Iyy_wing" min="0" step="0.1" max="30" shortname="Iyy_wing"/>
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<dl_setting var="eff_sched_p.Ixx_wing" min="0" step="0.1" max="30" shortname="Ixx_wing"/>
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<dl_setting var="eff_sched_p.m" min="0" step="0.1" max="50" shortname="M"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="eff_scheduling_rotwing.h"/>
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</header>
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<init fun="eff_scheduling_rotwing_init()"/>
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<periodic fun="eff_scheduling_rotwing_periodic()"/>
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<makefile>
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<file name="eff_scheduling_rotwing.c"/>
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<test firmware="rotorcraft">
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<define name="ACTUATORS_NB" value="10"/>
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<define name="SERVO_ROTATION_MECH_IDX" value="8"/>
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<define name="SERVO_MOTOR_FRONT" value="0"/>
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<define name="SERVO_MOTOR_RIGHT" value="1"/>
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<define name="SERVO_MOTOR_BACK" value="2"/>
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<define name="SERVO_MOTOR_LEFT" value="3"/>
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<define name="SERVO_MOTOR_PUSH" value="8"/>
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<define name="SERVO_SERVO_ELEVATOR" value="5"/>
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<define name="INDI_NUM_ACT" value="4"/>
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<define name="INDI_OUTPUTS" value="3"/>
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<define name="ROTWING_EFF_SCHED_IXX_BODY" value="1"/>
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<define name="ROTWING_EFF_SCHED_IYY_BODY" value="1"/>
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<define name="ROTWING_EFF_SCHED_IZZ" value="1"/>
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<define name="ROTWING_EFF_SCHED_IXX_WING" value="1"/>
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<define name="ROTWING_EFF_SCHED_IYY_WING" value="1"/>
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<define name="ROTWING_EFF_SCHED_M" value="1"/>
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<define name="ROTWING_EFF_SCHED_DM_DPPRZ_HOVER_PITCH" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_DM_DPPRZ_HOVER_ROLL" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_HOVER_ROLL_PITCH_COEF" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_HOVER_ROLL_ROLL_COEF" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_ELEVATOR" value="{1,1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_RUDDER" value="{1,1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_AILERON" value="1"/>
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<define name="ROTWING_EFF_SCHED_K_FLAPERON" value="1"/>
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<define name="ROTWING_EFF_SCHED_K_PUSHER" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_ELEVATOR_DEFLECTION" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_D_RUDDER_D_PPRZ" value="1"/>
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<define name="ROTWING_EFF_SCHED_K_RPM_PPRZ_PUSHER" value="{1,1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_LIFT_WING" value="{1,1}"/>
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<define name="ROTWING_EFF_SCHED_K_LIFT_FUSELAGE" value="1"/>
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<define name="ROTWING_EFF_SCHED_K_LIFT_TAIL" value="1"/>
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<define name="GUIDANCE_INDI_HYBRID_USE_WLS" value="1"/>
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<define name="GUIDANCE_INDI_HYBRID_U" value="9"/>
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<define name="GUIDANCE_INDI_HYBRID_V" value="5"/>
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<define name="GUIDANCE_INDI_WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
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<define name="GUIDANCE_INDI_WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
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<define name="GUIDANCE_INDI_MAX_PITCH" value="20.0"/>
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<define name="GUIDANCE_INDI_MIN_PITCH" value="-20.0"/>
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</test>
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</makefile>
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</module> |