Rotating wing state machine (#3169)

* Rotating wing state machine
* state now drives the wing rotation
* module does not run stand-alone
* Update conf/modules/rotwing_state.xml

Co-authored-by: Dennis van Wijngaarden <D.C.vanWijngaarden@tudelft.nl>
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>

conf/modules/rotwing_state.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<module name="rotwing_state" dir="rot_wing_drone">
+  <doc>
+    <description>This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan. Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.</description>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="RotWingState">
+        <dl_setting var="rotwing_state_skewing.wing_angle_deg_sp" min="0" step="1" max="90" shortname="skew angle"/>
+        <dl_setting var="rotwing_state_skewing.force_rotation_angle" min="0" step="1" max="1" values="FALSE|TRUE" shortname="force_skew"/>
+        <dl_setting var="hover_motors_active" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_active"/>
+        <dl_setting var="bool_disable_hover_motors" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_disable"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="rotwing_state.h"/>
+  </header>
+    <init fun="init_rotwing_state()"/>
+    <periodic fun="periodic_rotwing_state()" freq="50"/>
+  <makefile>
+    <file name="rotwing_state.c"/>
+  </makefile>
+</module>

conf/modules/wing_rotation_controller_servo.xml

@@ -6,7 +6,6 @@
   <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>
@@ -16,7 +15,6 @@
     <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"/>