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changed reference saturations

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This commit is contained in:
Antoine Drouin
2009-07-25 00:01:02 +00:00
parent 012031685b
commit 2c9b1a6f3f
3 changed files with 20 additions and 19 deletions
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conf/airframes/booz2_a1.xml
+10 -12
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@@ -100,18 +100,18 @@
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="BFP_OF_REAL(5,RATE_REF_RES)"/>
<define name="REF_MAX_PDOT" value="BFP_OF_REAL(128,ACCEL_REF_RES)"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="BFP_OF_REAL(5,RATE_REF_RES)"/>
<define name="REF_MAX_QDOT" value="BFP_OF_REAL(128,ACCEL_REF_RES)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="BFP_OF_REAL(3,RATE_REF_RES)"/>
<define name="REF_MAX_RDOT" value="BFP_OF_REAL(32,ACCEL_REF_RES)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
@@ -131,8 +131,6 @@
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
conf/autopilot/booz2_simulator_nps.makefile
+4 -1
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@@ -93,8 +93,10 @@ sim.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
#sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_H=\"stabilization/booz_stabilization_attitude_euler.h\"
sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_H=\"stabilization/booz_stabilization_attitude_euler.h\"
sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler.c
#sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_float.c
@@ -103,6 +105,7 @@ sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
sim.srcs += math/pprz_geodetic_int.c
sim.srcs += $(SRC_BOOZ)/booz2_ins.c
# vertical filter float version
sim.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
sim.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_traj_euler.h
+6 -6
View File
@@ -35,14 +35,14 @@ extern struct Int32Vect3 booz_stabilization_accel_ref;
#define F_UPDATE (1<<F_UPDATE_RES)
#define ACCEL_REF_RES 12
#define ACCEL_REF_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT
#define ACCEL_REF_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT
#define ACCEL_REF_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT
#define ACCEL_REF_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT, ACCEL_REF_RES)
#define ACCEL_REF_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT, ACCEL_REF_RES)
#define ACCEL_REF_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT, ACCEL_REF_RES)
#define RATE_REF_RES 16
#define RATE_REF_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P
#define RATE_REF_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q
#define RATE_REF_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R
#define RATE_REF_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P, RATE_REF_RES)
#define RATE_REF_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q, ACCEL_REF_RES)
#define RATE_REF_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R, ACCEL_REF_RES)
#define ANGLE_REF_RES 20
#define PI_ANGLE_REF BFP_OF_REAL(3.1415926535897932384626433832795029, ANGLE_REF_RES)