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Nav rotorcraft rework (#2964)

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This is a complete rework of the navigation for rotorcraft with the key features:

- all nav functions and interface in float
- nav function are registered (decoupling between nav API and implementation of standard pattern)
- submodes to specify if setpoint is a position (legacy), speed or accel (better integration of algorithms like GVF)
- guidance (H and V) is reorganized with default function to implement (run_pos, run_speed, run_accel) 
- guidance control (the old default PID) is separated from the guidance logic

---------

Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
This commit is contained in:
Gautier Hattenberger
2023-03-02 22:15:23 +01:00
committed by GitHub
parent e42330c58d
commit 28ef30ed80
127 changed files with 3477 additions and 2225 deletions
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conf/airframes/tudelft/cyfoam.xml
+8 -5
View File
@@ -66,6 +66,7 @@
<section name="BAT">
<define name="LOW_BAT_LEVEL" value="13.9" units="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="13.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="14.8" units="V"/>
</section>
<section name="ctrl_eff_scheduling" prefix="FWD_">
@@ -302,8 +303,9 @@
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="3000"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="15.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.045"/>
<!--<define name="KNIFE_EDGE_TEST" value="TRUE"/>-->
<!--Flap effectiveness on lift-->
<define name="FE_LIFT_A_PITCH" value="0.00018"/>
@@ -311,6 +313,7 @@
<define name="FE_LIFT_A_AS" value="0.0008"/>
<define name="FE_LIFT_B_AS" value="0.00009"/>
</module>
<module name="nav" type="hybrid"/>
<!--<module name="ahrs" type="int_cmpl_quat">-->
<!--<configure name="USE_MAGNETOMETER" value="TRUE"/>-->
@@ -319,11 +322,11 @@
<!--<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="TRUE"/>-->
<!--</module>-->
<!--<module name="ins"/>-->
<!-- <module name="ins" type="ekf2"/> -->
<module name="ins" type="float_invariant">
<!--module name="ins"/-->
<module name="ins" type="ekf2"/>
<!--module name="ins" type="float_invariant">
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
</module>
</module-->
</firmware>
</airframe>