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GVF user configs and GVF Viewer documentation (#2896)
This commit is contained in:
Jesús Bautista Villar
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GitHub
GitHub
parent
3c565adb1a
commit
149dc9b10a
@@ -316,6 +316,11 @@ test_openuas: all
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test_tudelft: all
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CONF_XML=conf/userconf/tudelft/conf.xml prove tests/aircrafts/
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# test GVF conf
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test_gvf: all
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CONF_XML=conf/userconf/GVF/gvf_conf.xml prove tests/aircrafts/
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# compiles all aircrafts in conf_tests.xml
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test_examples: all
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CONF_XML=conf/conf_tests.xml prove tests/aircrafts/
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@@ -0,0 +1,268 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Sonicmodell 1
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- Propeller: 5x5 3 blades
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- Motor: 2206 2300KV
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- Motor controller: Flycolor 30A LV
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- Radio modem: Xbee Pro S1 2.4 Ghz
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- Radio control: Futaba T7C (FASST)
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- GPS: Ublox M8N
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- Autopilot; Apogee V1.0
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-->
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<airframe name="Sonic_2">
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<firmware name="fixedwing">
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<define name="NAVIGATION_FREQUENCY" value="50"/> <!-- unit="Hz" -->
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<!--configure name="CONTROL_FREQUENCY" value="120"/--> <!-- unit="Hz" -->
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<!--configure name="TELEMETRY_FREQUENCY" value="60"/--> <!-- unit="Hz" -->
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<!--configure name="MODULES_FREQUENCY" value="512"/--> <!-- unit="Hz" -->
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<define name="USE_GYRO_PITCH_RATE"/>
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<!--target name="ap" board="apogee_1.0_chibios">
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<module name="radio_control" type="sbus"/>
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</target-->
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<target name="nps" board="pc">
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<module name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="apogee">
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<define name="IMU_APOGEE_CHAN_X" value="1"/>
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<define name="IMU_APOGEE_CHAN_Y" value="0"/>
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</module>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="tlsf"/>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B38400"/>
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</module>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_RIGHT" no="1" max="1000" neutral="1430" min="2000"/>
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<servo name="AILEVON_LEFT" no="2" max="2000" neutral="1693" min="1000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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<section name="GVF" prefix="GVF_">
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<define name="LINE_KE" value="2.5"/>
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<define name="ELLIPSE_KE" value="0.8"/>
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<define name="ELLIPSE_KN" value="0.6"/>
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</section>
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<section name="GVF_PARAMETRIC" prefix="GVF_PARAMETRIC_">
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<define name="3D_LISSAJOUS_KX" value="0.001"/>
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<define name="3D_LISSAJOUS_KY" value="0.001"/>
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<define name="3D_LISSAJOUS_KZ" value="0.001"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Needed by NPS (simulation) -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<!-- Calibration Neutral -->
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="ACCEL_X_NEUTRAL" value="109"/>
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<define name="ACCEL_Y_NEUTRAL" value="13"/>
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<define name="ACCEL_Z_NEUTRAL" value="-404"/>
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<define name="ACCEL_X_SENS" value="2.45045342816" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44747844234" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.42689216106" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="-0.0349069999999"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="H_X" value="0.5141"/>
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<define name="H_Y" value="0.0002"/>
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<define name="H_Z" value="0.8576"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="8.6" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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<define name="APP_ANGLE" value="8" unit="deg"/>
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<!--ATID: Network 3351 (default:3350)
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ATCH: Channel 17
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ATP1: Api mode
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ATBD6: Baudrate 57600
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ATWR: Write in Flash-->
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<!--define name="XBEE_INIT" value="\"ATID3351\rATCH17\rATP1\rATBD6\r\""/-->
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.13"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="4."/>
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<!-- disable climb rate limiter -->
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<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.07" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.012"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.002"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.011"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
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<!-- Climb loop (pitch) -->
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<define name="AUTO_PITCH_PGAIN" value="0.03"/>
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<define name="AUTO_PITCH_DGAIN" value="0.01"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<!-- Trims -->
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<define name="PITCH_TRIM" value="0.5" unit="deg"/>
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<!-- airspeed control -->
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<!--XPA NOT USED />
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<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30"/>
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<define name="AIRSPEED_MIN" value="10"/-->
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<!-- groundspeed control -->
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<!--XPA NOT USED />
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
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<!-- pitch trim -->
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<!--XPA NOT USED />
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<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
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<define name="PITCH_DASH_TRIM" value="0." unit="deg"/-->
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.743"/>
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<!--XPA NOT USED />
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<define name="COURSE_TAU" value="0.5"/-->
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<define name="ROLL_MAX_SETPOINT" value="50.0000214859" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
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<define name="ROLL_RATE_GAIN" value="1000."/>
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<define name="ROLL_IGAIN" value="100."/>
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<!--XPA NOT USED />
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<define name="ROLL_KFFA" value="0"/>
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<define name="ROLL_KFFD" value="0"/-->
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<define name="PITCH_PGAIN" value="17250"/>
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<define name="PITCH_DGAIN" value="500."/>
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<define name="PITCH_IGAIN" value="400"/>
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<!--XPA NOT USED />
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/-->
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<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="0"/>
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</section>
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<!--XPA NOT USED />
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section-->
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<section name="CATAPULT" prefix="NAV_CATAPULT_">
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<define name="ACCELERATION_THRESHOLD" value="1.0"/>
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<define name="INITIAL_PITCH" value="20" unit="deg"/>
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<define name="CLIMB_DISTANCE" value="160"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_LAUNCHSPEED" value="15"/>
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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</airframe>
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@@ -0,0 +1,24 @@
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<conf>
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<aircraft
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name="gvf_sonic2"
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ac_id="5"
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airframe="airframes/UCM/sonic2.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/GVF/gvf_default_fixedwing.xml"
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flight_plan="flight_plans/UCM/fixedwing_gvfMission.xml"
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settings="settings/fixedwing_basic.xml"
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settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/gvf_module.xml~GVF~ modules/gvf_parametric.xml~GVF_PARAMETRIC~ modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
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gui_color="blue"
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/>
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<aircraft
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name="gvf_steering_rover"
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ac_id="8"
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airframe="airframes/UCM/rover_steering.xml"
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radio="radios/UCM/T16SZ_SBUS_rover.xml"
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telemetry="telemetry/GVF/gvf_rover.xml"
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flight_plan="flight_plans/UCM/steering_rover_gvfMission.xml"
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settings=""
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settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rover_steering.xml modules/gvf_module.xml~GVF~ modules/imu_common.xml modules/nav_rover_base.xml"
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gui_color="blue"
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/>
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</conf>
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@@ -0,0 +1,87 @@
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.. user_guide gvf_viewer
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================
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GVF Viewer
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================
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GVF Viewer is a GCS widget that allows us to visualise parametric trajectories and vector fields generated by GVF (guiding vector field) guidance algorithm.
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.. image:: gvf_viewer_showcase.png
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How to load GVF Viewer
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-----------------------
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The GVF Viewer tool is built inside the GCS map widget but will be deactivated until you load it in your layout. In the image below you can see how we load ``gvf_layout.xml``. This layout is a simple example that just includes the GVF Viewer widget in the left column.
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.. image:: gvf_viewer_layout.png
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.. code-block:: xml
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<!-- PprzGCS/data/gvf_layout.xml -->
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<gcsconf>
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<layout width="1000" height="800">
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<columns>
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<widget name="map2d" size="800">
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<configure>
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<columnLeft>
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<widget name="layers" icon="map_layers_normal.svg"/>
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<widget name="commands" icon="nav.svg"/>
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<widget name="gps_classic_viewer" icon="gps.svg"/>
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<widget name="gvf_viewer" icon="gvf.svg"/> <!-- Load GVF Viewer -->
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</columnLeft>
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<columnRight>
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<widget name="PFD" icon="pfd.svg"/>
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<widget name="settings" icon="settings.svg"/>
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<widget name="plotter" icon="plotter.svg">
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<configure>
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<plot name="ground:ENGINE_STATUS:bat" min="9" max="13"/>
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</configure>
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</widget>
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<widget name="link_status" icon="link_ok.svg"/>
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</columnRight>
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</configure>
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</widget>
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<rows size="200">
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<widget name="strips" container="list" alt="commands"/>
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<widget name="flightplan"/>
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</rows>
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</columns>
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</layout>
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<speech locale="en_GB">
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<message name="ground:FLIGHT_PARAM:agl" text="{AC} altitude, {value} meters AGL" timeout="20" expire="10" priority="1"/>
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<message name="ground:AP_STATUS:ap_mode" text="mode {value}" timeout="0" expire="20" priority="2" onChange="true"/>
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<message name="ground:NAV_STATUS:cur_block" text="block {value}" timeout="0" expire="10" priority="0" onChange="true" postprocessing="block"/>
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</speech>
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</gcsconf>
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Once we loaded GVF Viewer, we need an aircraft working with GVF. In order to test some features of this tool, the user can load with ``start.py`` the GVF configurations located in ``conf/userconf/GVF`` and compile the simulation target.
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How GVF Viewer works
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--------------------
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The GVF Viewer uses the ``GVF`` and ``GVF_PARAMETRIC`` telemetry messages data to draw both the vector field and the parametric trajectory. This way, once the server recive any of these messages from any AC, the tool will start to draw with the default configuration.
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To set up a custom configuration we just have to click on the GVF icon. In the new dialog that instantly appears the user will be able to change some variables of the drawer and visualise the altitude color bar.
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GVF trajectories
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----------------
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Although GVF formally allows to follow every parametric trajectory, at this moment there are just a few examples implemented.
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GVF classic
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___________
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The GVF classic version currently includes the line, 2D ellipse, and sine trajectories.
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.. image:: gvf_classic.png
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GVF parametric
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______________
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In GVF parametric the user will find more complex trajectories such as the trefoil, 3D ellipse, and lissajous.
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.. image:: gvf_parametric.png
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@@ -16,6 +16,7 @@ Start conquering the wolrd, by making incredible :doc:`flight_plans`!
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communication
|
||||
radio
|
||||
gcs_graphics
|
||||
gvf_viewer
|
||||
simulation_main
|
||||
directories_structure
|
||||
|
||||
|
||||
Reference in New Issue
Block a user