mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Tomaso Maria Luigi De Ponti
82 lines
4.3 KiB
XML
82 lines
4.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="eff_scheduling_rotwing_V2" dir="ctrl">
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<doc>
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<description>T
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The 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="ele_min" min="0" step="100" max="6400" shortname="ele_min"/>
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<dl_setting var="roll_eff" min="1" step="0.05" max="10" shortname="roll_eff"/>
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<dl_setting var="yaw_eff" min="0.1" step="0.01" max="1" shortname="yaw_eff"/>
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<dl_setting var="ele_eff" min="5" step="0.5" max="50" shortname="ele_eff"/>
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<dl_setting var="airspeed_fake_on" min="0" step="1" max="1" values="OFF|ON" shortname="bool_airspeed_fake"/>
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<dl_setting var="airspeed_fake" min="0" step="0.001" max="20" shortname="airspeed_fake"/>
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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_V2.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_V2.c"/>
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<test firmware="rotorcraft">
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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="M_PI" value="3.14"/>
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<define name="PERIODIC_FREQUENCY" value="500.0"/>
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<define name="ACTUATORS_NB" value="10"/>
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<define name="COMMANDS_NB_PASSIVE" value="1"/>
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<define name="COMMANDS_NB_VIRTUAL" value="2"/>
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<define name="COMMANDS_NB_REAL" value="9"/>
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<define name="COMMANDS_NB_OTHER" value="2"/>
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<define name="ANDI_OUTPUTS" value="6"/>
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<define name="EFF_MAT_ROWS_NB" value="6"/>
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<define name="EFF_MAT_COLS_NB" value="11"/>
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<define name="COMMAND_MOTOR_FRONT" value="0"/>
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<define name="COMMAND_MOTOR_RIGHT" value="8"/>
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<define name="COMMAND_MOTOR_BACK" value="9"/>
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<define name="COMMAND_MOTOR_LEFT" value="3"/>
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<define name="COMMAND_MOTOR_PUSHER" value="10"/>
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<define name="COMMAND_ELEVATOR" value="5"/>
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<define name="COMMAND_RUDDER" value="6"/>
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<define name="COMMAND_AILERONS" value="7"/>
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<define name="COMMAND_ROT_MECH" value="11"/>
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<define name="SERVO_ROTATION_MECH_IDX" value="11"/>
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<define name="RW_aX" value="0"/>
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<define name="RW_aY" value="1"/>
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<define name="RW_aZ" value="2"/>
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<define name="RW_aN" value="0"/>
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<define name="RW_aE" value="1"/>
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<define name="RW_aD" value="2"/>
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<define name="RW_ap" value="3"/>
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<define name="RW_aq" value="4"/>
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<define name="RW_ar" value="5"/>
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<define name="ZERO_ELE_PPRZ" value="8000"/>
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<define name="ELE_MIN_AS" value="8.8"/>
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<define name="ELE_MAX_AS" value="16.0"/>
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</test>
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</makefile>
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</module>
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