review updates

paparazzi · Oct 6, 2023 · 69e0abf · 69e0abf
1 parent 26e15e0
commit 69e0abf
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Showing 2 changed files with 33 additions and 33 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -96,31 +96,7 @@
             <define name="WLS_N_V" value="5"/>
         </module>
 
-        <!-- 20.17 kg -->
-        <!-- <module name="ctrl_eff_sched_rot_wing">
-            <define name="ROT_WING_EFF_SCHED_IXX_BODY"          value="0.90940"/>
-            <define name="ROT_WING_EFF_SCHED_IYY_BODY"          value="7.88418"/>
-            <define name="ROT_WING_EFF_SCHED_IZZ"               value="5.91445"/>
-            <define name="ROT_WING_EFF_SCHED_IWING"             value="1.06965"/>
-            <define name="ROT_WING_EFF_SCHED_M"                 value="20.17"/>
-            <define name="ROT_WING_EFF_SCHED_ROLL_ARM"          value="0.64"/>
-            <define name="ROT_WING_EFF_SCHED_PITCH_ARM"         value="0.556"/>
-            <define name="ROT_WING_EFF_SCHED_HOVER_DF_DPPRZ"    value="0.012078"/>
-        </module> -->
-
-        <!-- 25kg -->
-        <module name="ctrl_eff_sched_rot_wing">
-            <define name="ROT_WING_EFF_SCHED_IXX_BODY"              value="0.2845"/>
-            <define name="ROT_WING_EFF_SCHED_IYY_BODY"              value="5.078"/>
-            <define name="ROT_WING_EFF_SCHED_IZZ"                   value="7.051"/>
-            <define name="ROT_WING_EFF_SCHED_IXX_WING"              value="0.712"/>
-            <define name="ROT_WING_EFF_SCHED_IYY_WING"              value="1.77"/>
-            <define name="ROT_WING_EFF_SCHED_M"                     value="25.5"/>
-            <define name="ROT_WING_EFF_SCHED_ROLL_ARM"              value="0.64"/>
-            <define name="ROT_WING_EFF_SCHED_PITCH_ARM"             value="0.556"/>
-            <define name="ROT_WING_EFF_SCHED_HOVER_DF_DPPRZ"        value="0.014007"/>
-            <define name="ROT_WING_EFF_SCHED_HOVER_ROLL_PITCH_COEF" value="{0.64,1.4}"/>
-        </module>
+        <module name="ctrl_eff_sched_rot_wing"/>
 
         <module name="guidance" type="indi_hybrid"/>
         <module name="nav_hybrid"/>
@@ -230,6 +206,34 @@
     </section>
 
 
+    <!-- 20.17 kg -->
+    <!--    <section name="CTRL_EFF_SCED" prefix="ROT_WING_EFF_SCHED_">
+        <define name="IXX_BODY"          value="0.90940"/>
+        <define name="IYY_BODY"          value="7.88418"/>
+        <define name="IZZ"               value="5.91445"/>
+        <define name="IWING"             value="1.06965"/>
+        <define name="M"                 value="20.17"/>
+        <define name="ROLL_ARM"          value="0.64"/>
+        <define name="PITCH_ARM"         value="0.556"/>
+        <define name="HOVER_DF_DPPRZ"    value="0.012078"/>
+    </section> -->
+
+    <!-- 25kg -->
+    <section name="CTRL_EFF_SCED" prefix="ROT_WING_EFF_SCHED_">
+        <!-- Control Effectiveness Scheduling -->
+        <define name="IXX_BODY"              value="0.2845"/>
+        <define name="IYY_BODY"              value="5.078"/>
+        <define name="IZZ"                   value="7.051"/>
+        <define name="IXX_WING"              value="0.712"/>
+        <define name="IYY_WING"              value="1.77"/>
+        <define name="M"                     value="25.5"/>
+        <define name="ROLL_ARM"              value="0.64"/>
+        <define name="PITCH_ARM"             value="0.556"/>
+        <define name="HOVER_DF_DPPRZ"        value="0.014007"/>
+        <define name="HOVER_ROLL_PITCH_COEF" value="{0.64,1.4}"/>
+    </section>
+
+
     <section name="MISC">
         <!-- Voltage and current measurements -->
         <define name="VoltageOfAdc(adc)"                value="((3.3f/65536.0f) * 21.314 * adc)"/> <!-- ADC calibration -->

diff --git a/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml
@@ -1,18 +1,14 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="60" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1100" name="Rotating wing Valkenburg" security_height="2">
-  <header>
-    #include "autopilot.h"
-    #include "modules/datalink/datalink.h"
-</header>
+  <header/>
   <waypoints>
     <waypoint name="HOME" x="12.6" y="-48.7"/>
     <waypoint name="CLIMB" x="62.6" y="-80.4"/>
     <waypoint name="trans" x="100." y="100."/>
     <waypoint name="decel" x="100." y="100."/>
     <waypoint name="end_trans" x="100." y="100."/>
     <waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
-    <!--<waypoint name="p1" lat="52.1674262" lon="4.4141448"/>-->
     <waypoint name="p1" lat="52.1684116" lon="4.4149282"/>
     <waypoint name="p2" lat="52.1675165" lon="4.4147158"/>
     <waypoint name="p3" lat="52.1688983" lon="4.4139655"/>
@@ -74,7 +70,7 @@
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
         <set value="false" var="force_forward"/>
-        <exception cond="stateGetPositionEnu_f()->z > 4.0" deroute="Standby"/>
+        <exception cond="GetPosAlt()  @LT 4.0" deroute="Standby"/>
         <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
         <attitude pitch="0" roll="0" throttle="0.75" until="stage_time>2" vmode="throttle"/>
     </block>
@@ -145,13 +141,13 @@
     </block>
     <block name="descend">
         <set value="false" var="force_forward"/>
-        <exception cond="!(stateGetPositionEnu_f()->z > 12.0)" deroute="flare"/>
+        <exception cond="!(GetPosAlt()  @LT 12.0)" deroute="flare"/>
         <stay climb="-1.0" vmode="climb" wp="TD"/>
     </block>
     <block name="flare">
         <set value="false" var="force_forward"/>
         <stay climb="-0.5" vmode="climb" wp="TD"/>
-        <exception cond="!(stateGetPositionEnu_f()->z > 2.0)" deroute="flare_low"/>
+        <exception cond="!(GetPosAlt()  @LT 2.0)" deroute="flare_low"/>
     </block>
     <block name="flare_low">
         <set value="false" var="force_forward"/>