<!DOCTYPE module SYSTEM "module.dtd">

<module name="stabilization_adaptive" dir="stabilization">
  <doc>
    <description>
      Adaptive attitude and lateral (heading) control for fixedwing aircraft.
      Mostly based on PID and optional reference generators and feedforward gains.
      An experimental adaptive filter is also included to estimate some parameters, but should not be used for normal operation at the moment.
    </description>
    <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
      <define name="COURSE_PGAIN" value="1.0" description="feedback heading P gain"/>
      <define name="COURSE_DGAIN" value="0.3" description="feedback heading D gain"/>
      <define name="ROLL_MAX_SETPOINT" value="45." description="max roll setpoint" unit="deg"/>
      <define name="PITCH_MAX_SETPOINT" value="30." description="max pitch up setpoint" unit="deg"/>
      <define name="PITCH_MIN_SETPOINT" value="-30." description="max pitch down setpoint" unit="deg"/>
      <define name="ROLL_ATTITUDE_GAIN" value="7500" description="feedback roll P gain"/>
      <define name="ROLL_RATE_GAIN" value="1500" description="feedback roll rate P gain (roll D gain)"/>
      <define name="ROLL_IGAIN" value="100." description="feedback roll I gain"/>
      <define name="ROLL_KFFA" value="0" description="feedforward roll acceleration gain"/>
      <define name="ROLL_KFFD" value="0" description="feedforward roll rate gain"/>

      <define name="PITCH_PGAIN" value="12000." description="feedback pitch P gain"/>
      <define name="PITCH_DGAIN" value="1.5" description="feedback pitch D gain"/>
      <define name="PITCH_IGAIN" value="400" description="feedback pitch I gain"/>
      <define name="PITCH_KFFA" value="0." description="feedforward pitch acceleration gain"/>
      <define name="PITCH_KFFD" value="0." description="feedforward pitch rate gain"/>

      <define name="PITCH_OF_ROLL" value="1." description="feedforward pitch of roll coupling" unit="deg"/>
      <define name="AILERON_OF_THROTTLE" value="0.0" description="feedforward roll of throttle coupling"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="control horiz">
        <dl_settings NAME="trim">
          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
          <dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
        </dl_settings>
        <dl_settings NAME="attitude">
          <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
          <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain" module="stabilization/stabilization_adaptive"/>
          <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN" module="stabilization/stabilization_attitude"/>
          <dl_setting MAX="50000" MIN="0" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN" module="stabilization/stabilization_attitude"/>
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain" module="stabilization/stabilization_adaptive"/>
          <dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="stabilization/stabilization_attitude"/>
          <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>

          <dl_setting MAX="60" MIN="0" STEP="1." VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
          <dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
        </dl_settings>
        <dl_settings NAME="feedforward">
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
          <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
        </dl_settings>
        <dl_settings name="course">
          <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
          <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
          <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
          <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
        </dl_settings>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="stabilization_attitude.h"/>
    <file name="stabilization_adaptive.h"/>
  </header>
  <init fun="h_ctl_init()"/>
  <makefile target="ap|sim|nps" firmware="fixedwing">
    <file name="stabilization_adaptive.c" dir="$(SRC_FIRMWARE)/stabilization"/>
  </makefile>
</module>
