add setting to differentiate front and back wing

paparazzi · Sep 8, 2023 · 964383f · 964383f
1 parent 33a45dc
commit 964383f
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diff --git a/conf/modules/eff_scheduling_nederdrone.xml b/conf/modules/eff_scheduling_nederdrone.xml
@@ -15,6 +15,7 @@ not use this module at the same time!</description>
         <dl_setting shortname="tip_prop_upper_pitch" var="sched_tip_prop_upper_pitch_limit_deg" min="-90" step="1" max="0"/>
         <dl_setting shortname="sched_ratio_tip_props" var="sched_ratio_tip_props" min="0" step="0.1" max="1"/>
         <dl_setting shortname="thrust_eff_scaling" var="thrust_eff_scaling" min="0.6" step="0.01" max="1.4"/>
+        <dl_setting shortname="back_eff_scaling" var="backwing_thrust_eff_scaling" min="0.6" step="0.01" max="1.4"/>
         <dl_setting shortname="all_act_fwd_sched" var="all_act_fwd_sched" min="0" step="1" max="1" values="OFF|ON"/>
         <dl_setting shortname="trim_elevator" var="trim_elevator" min="-5000" step="1" max="5000"/>
         <dl_setting shortname="trim_flaps" var="trim_flaps" min="-5000" step="1" max="5000"/>

diff --git a/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c b/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
@@ -65,6 +65,7 @@ bool all_act_fwd_sched = false;
 int32_t use_scheduling = 1;
 
 float thrust_eff_scaling = 1.0;
+float backwing_thrust_eff_scaling = 1.0;
 
 static float g_forward[4][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL_FWD, STABILIZATION_INDI_G1_PITCH_FWD, STABILIZATION_INDI_G1_YAW_FWD, STABILIZATION_INDI_G1_THRUST_FWD};
 
@@ -196,6 +197,9 @@ void schdule_control_effectiveness(void) {
     // Thrust
     g1g2[3][i] = g_hover[3][i] * (1.0 - ratio_spec_force) + g_forward[3][i] * ratio_spec_force;
     g1g2[3][i] *= thrust_eff_scaling;
+    if( (i ==2) || (i==3)) {
+      g1g2[3][i] *= backwing_thrust_eff_scaling;
+    }
   }
 
   bool low_airspeed = stateGetAirspeed_f() < INDI_SCHEDULING_LOW_AIRSPEED;

diff --git a/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.h b/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.h
@@ -46,6 +46,7 @@ extern float sched_tip_prop_lower_pitch_limit_deg;
 extern bool sched_tip_props_always_on;
 // Setting to scale the thrust effectiveness
 extern float thrust_eff_scaling;
+extern float backwing_thrust_eff_scaling;
 
 // Schedule all forward actuators with airspeed instead of only the flaps
 extern bool all_act_fwd_sched;