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introduced radio control scripts in sim

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This commit is contained in:
Antoine Drouin
2009-07-26 22:32:24 +00:00
parent 91e2d0a346
commit 1b8f69fcf6
5 changed files with 61 additions and 33 deletions
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conf/settings/settings_booz2.xml
+1 -1
View File
@@ -28,7 +28,7 @@
<dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="pgain psi"/>
<dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="stabilization/booz_stabilization_attitude" shortname="dgain r"/>
<dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="stabilization/booz_stabilization_attitude" shortname="igain psi"/>
<dl_setting var="booz_stabilization_ddgain.z" min="0" step="1" max="500" module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
<dl_setting var="booz_stabilization_ddgain.z" min="0" step="1" max="1000" module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
</dl_settings>
<dl_settings NAME="Vert Loop">
conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
+8 -8
View File
@@ -236,7 +236,7 @@
<z>0</z>
</location>
<direction>
<x>-1</x>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
@@ -255,7 +255,7 @@
<z>0</z>
</location>
<direction>
<x>1</x>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
@@ -276,7 +276,7 @@
<z>0</z>
</location>
<direction>
<x>-1</x>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
@@ -295,7 +295,7 @@
<z>0</z>
</location>
<direction>
<x>1</x>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
@@ -317,7 +317,7 @@
</location>
<direction>
<x>0</x>
<y>-1</y>
<y>1</y>
<z>0</z>
</direction>
</force>
@@ -336,7 +336,7 @@
</location>
<direction>
<x>0</x>
<y>1</y>
<y>-1</y>
<z>0</z>
</direction>
</force>
@@ -357,7 +357,7 @@
</location>
<direction>
<x>0</x>
<y>-1</y>
<y>1</y>
<z>0</z>
</direction>
</force>
@@ -376,7 +376,7 @@
</location>
<direction>
<x>0</x>
<y>1</y>
<y>-1</y>
<z>0</z>
</direction>
</force>
sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
+3 -3
View File
@@ -33,7 +33,7 @@
#define RC_UPDATE_FREQ 40.
#define ROLL_COEF (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ)
#define PITCH_COEF ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
#define YAW_COEF (- BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ / RC_UPDATE_FREQ)
#define YAW_COEF (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ / RC_UPDATE_FREQ)
#define YAW_DEADBAND_EXCEEDED() \
(radio_control.values[RADIO_CONTROL_YAW] > BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R || \
@@ -54,8 +54,8 @@
} \
\
struct FloatRMat sp_rmat; \
/* FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp); */ \
FLOAT_RMAT_OF_EULERS_321(sp_rmat, _sp); \
FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp); \
/* FLOAT_RMAT_OF_EULERS_321(sp_rmat, _sp);*/ \
FLOAT_QUAT_OF_RMAT(booz_stab_att_sp_quat, sp_rmat); \
/*FLOAT_EULERS_OF_QUAT(sp_euler321, sp_quat);*/ \
}
sw/simulator/nps_autopilot_booz.c
+3 -4
View File
@@ -56,9 +56,9 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
booz2_main_periodic();
/* 25 */
if (time < 5) {
double hover = 0.25;
//double hover = 0.2493;
if (time < 8) {
// double hover = 0.25;
double hover = 0.2493;
// double hover = 0.23;
// double hover = 0.;
// if (time > 20) hover = 0.25;
@@ -66,7 +66,6 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
double pitch = 0.000;
double roll = 0.0000;
autopilot.commands[SERVO_FRONT] = hover + yaw + pitch;
autopilot.commands[SERVO_BACK] = hover + yaw - pitch;
autopilot.commands[SERVO_RIGHT] = hover - yaw - roll ;
sw/simulator/nps_radio_control.c
+46 -17
View File
@@ -8,36 +8,65 @@ void nps_radio_control_init(void) {
nps_radio_control.next_update = 0.;
}
static void radio_control_script_step_roll(double time);
static void radio_control_script_ff(double time);
#define MODE_SWITCH_MANUAL -1.0
#define MODE_SWITCH_AUTO1 0.0
#define MODE_SWITCH_AUTO2 1.0
void nps_radio_control_run_script(double time) {
#define RADIO_CONTROL_TAKEOFF_TIME 8
void radio_control_script_takeoff(double time) {
nps_radio_control.roll = 0.;
nps_radio_control.pitch = 0.;
nps_radio_control.yaw = 0.;
nps_radio_control.throttle = 0.;
nps_radio_control.mode = MODE_SWITCH_MANUAL;
/* starts motors */
if (time < 1.) {
if (time < 1.)
nps_radio_control.yaw = 1.;
nps_radio_control.throttle = 0.;
nps_radio_control.mode = MODE_SWITCH_MANUAL;
}
else if (time < 3.5) {
else
nps_radio_control.yaw = 0.;
nps_radio_control.throttle = 0.;
nps_radio_control.mode = MODE_SWITCH_MANUAL;
}
void radio_control_script_step_roll(double time) {
nps_radio_control.throttle = 0.99;
nps_radio_control.mode = MODE_SWITCH_AUTO2;
if (((int32_t)rint((time*0.5)))%2) {
nps_radio_control.roll = 0.2;
nps_radio_control.yaw = 0.5;
}
else
nps_radio_control.roll = RadOfDeg(10);
}
void radio_control_script_ff(double time __attribute__ ((unused))) {
nps_radio_control.throttle = 0.99;
nps_radio_control.mode = MODE_SWITCH_AUTO2;
if (time < RADIO_CONTROL_TAKEOFF_TIME+3)
nps_radio_control.pitch = -1.;
else if (time < RADIO_CONTROL_TAKEOFF_TIME+6) {
// nps_radio_control.roll = 0.5;
nps_radio_control.pitch = -1.;
}
else {
nps_radio_control.yaw = 0.;
nps_radio_control.throttle = 0.99;
nps_radio_control.mode = MODE_SWITCH_AUTO2;
// nps_radio_control.throttle = 0.265;
// nps_radio_control.mode = MODE_SWITCH_MANUAL;
nps_radio_control.pitch = 0.;
nps_radio_control.roll = 0.;
}
}
if (((int32_t)rint((time*0.5)))%2)
nps_radio_control.roll = 0.15;
else
nps_radio_control.roll = -0.15;
void nps_radio_control_run_script(double time) {
if (time < RADIO_CONTROL_TAKEOFF_TIME)
radio_control_script_takeoff(time);
else {
// radio_control_script_step_roll(time);
radio_control_script_ff(time);
}
}