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[indi] rewrite indi stabilization and guidance for modularity (#3565)
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This PR allows to redefine the outer-loop for stabilization and
guidance, and to specify the guidance model for something else than a
quarotor (but still not an hybrid).
Two use case are proposed:
- replace the PD control of the outer-loop (still used by default) by
  and Hinfinity controller
- parametrize the guidance for an hexa-copter with tilted motors,
  allowing to produce side force for lateral motion control.
This commit is contained in:
Gautier Hattenberger
2026-02-02 18:41:03 +01:00
committed by GitHub
parent 06a7cde92e
commit 37a86bb389
21 changed files with 2217 additions and 383 deletions
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conf/airframes/ENAC/quadrotor/hexa_tilted_motors.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="Hexa-Copter with tilted motors">
<description>
Fully actuated hexa copter with tilted motors
* Autopilot: Tawaki
* Telemetry: XBee
* GPS: datalink
* RC: SBUS
</description>
<firmware name="rotorcraft">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<target name="ap" board="tawaki_2.0">
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
<define name="TAWAKIV2_IMU_ROT" value=""/>
<define name="TAWAKIV2_MAG_ROT" value=""/>
</target>
<!--
<module name="shell">
<configure name="SHELL_PORT" value="uart3"/>
</module>
<module name="sys_mon"/>
-->
<module name="telemetry" type="xbee_api"/>
<!--module name="flight_recorder"/-->
<module name="actuators" type="dshot">
<!--define name="DSHOT_SPEED" value="300"/-->
<!-- <configure name="DSHOT_BIDIR" value="TRUE"/> -->
<define name="DSHOT_TIM3_TELEMETRY_NUM" value="DSHOT_TLM_RX"/> <!--DSHTin-->
<define name="DSHOT_TIM1_TELEMETRY_NUM" value="DSHOT_TLM_AUX_RX"/> <!-- AUXa2-->
</module>
<module name="board" type="tawaki_2.0">
<define name="USE_DSHOT_TIM1" value="TRUE"/>
<define name="DSHOT_TELEMETRY_TIMEOUT_MS" value="3"/>
<define name="USE_PWM1" value="FALSE" />
<define name="USE_PWM2" value="FALSE" />
<define name="USE_PWM3" value="FALSE" />
<define name="STM32_SERIAL_USE_UART4" value="TRUE" /><!--USE_UART4-->
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
</module>
<module name="gps" type="optitrack"/>
<module name="air_data"/>
<module name="ins" type="ext_pose"/>
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="6"/>
<configure name="INDI_OUTPUTS" value="6"/>
</module>
<module name="guidance" type="indi_fully_actuated"/>
</firmware>
<servos driver="DShot">
<servo name="M1" no="2" min="0" neutral="100" max="2000"/>
<servo name="M2" no="1" min="0" neutral="100" max="2000"/>
<servo name="M3" no="3" min="0" neutral="100" max="2000"/>
<servo name="M4" no="7" min="0" neutral="100" max="2000"/>
<servo name="M5" no="6" min="0" neutral="100" max="2000"/>
<servo name="M6" no="5" min="0" neutral="100" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<set servo="M1" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="M2" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="M3" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="M4" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="M5" value="autopilot_get_motors_on() ? actuators_pprz[4] : -MAX_PPRZ"/>
<set servo="M6" value="autopilot_get_motors_on() ? actuators_pprz[5] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="-10,-47,-130" type="int[]"/>
<field name="scale" value="{{36821,8142,5741},{60003,13319,9358}}"/>
<field value="TAWAKIV2_IMU_ROT"/>
</field>
</define>
<define name="GYRO_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="false"/>
<field name="scale" value="false"/>
<field name="rotation" value="true"/>
</field>
<field value="TAWAKIV2_IMU_ROT"/>
</field>
</define>
<define name="MAG_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="3"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="791,-190,2545" type="int[]"/>
<field name="scale" value="{{26437,35997,25098},{35181,44272,29767}}"/>
<field value="TAWAKIV2_MAG_ROT"/>
</field>
</define>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<include href="conf/mag/toulouse_muret.xml"/>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="60" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15.0"/>
<define name="REF_RATE_Q" value="15.0"/>
<define name="REF_RATE_R" value="10.0"/>
<define name="MAX_R" value="120" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- control effectiveness Hexa Form-->
<define name="G1" type="matrix">
<!--field name="ROLL" value="{ -20.0, -35, -20, 20.0, 35, 20 }"/>
<field name="PITCH" value="{ 35, 0, -35, -35, 0, 35 }"/>
<field name="YAW" value="{ 2, -2, 2, -2, 2, -2 }"/>
<field name="THRUST_X" value="{ -0.1, 0.2, -0.1, -0.1, 0.2, -0.1}"/>
<field name="THRUST_Y" value="{ 0.2, 0, -0.2, 0.2, 0 , -0.2 }"/>
<field name="THRUST_Z" value="{ -0.35, -0.35, -0.35, -0.35, -0.35, -0.35}"/-->
<field name="NPS_ROLL" value="{ -19.0, -37, -19, 19.0, 37, 19 }"/>
<field name="NPS_PITCH" value="{ 30, 0, -30, -30, 0, 30 }"/>
<field name="NPS_YAW" value="{ 2, -2, 2, -2, 2, -2 }"/>
<field name="NPS_THRUST_X" value="{-0.05, 0.1, -0.05, -0.05, 0.1, -0.05}"/>
<field name="NPS_THRUST_Y" value="{0.1, 0, -0.1, 0.1, 0 , -0.1 }"/>
<field name="NPS_THRUST_Z" value="{-0.4, -0.4, -0.4, -0.4, -0.4, -0.4}"/>
</define>
<define name="G2" value="{0.0, -0, 0, -0.0 , 0.0 , -0.0}"/>
<!-- first order actuator dynamics -->
<!--define name="ACT_FREQ" value="{25.6, 25.6, 25.6, 25.6, 25.6, 25.6}"/-->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!-- Priority for each axis -->
<!-- ROLL,PITCH,YAW,Tx,Ty,Tz -->
<define name="WLS_PRIORITIES" value="{10000, 10000, 10, 100, 100, 1000}"/>
<define name="RPM_FEEDBACK" value="FALSE"/>
<!-- Thrusters contribute to global force in all directions -->
<define name="ACT_THRUST_MAT" type="matrix">
<field name="THRUST_X" value="{1,1,1,1,1,1}"/>
<field name="THRUST_Y" value="{1,1,1,1,1,1}"/>
<field name="THRUST_Z" value="{1,1,1,1,1,1}"/>
</define>
</section>
<section name="WLS" prefix="WLS_">
<define name="N_U_MAX" value="6"/>
<define name="N_V_MAX" value="6"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1."/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="MASS" value="0.8"/>
<define name="POS_GAIN" value="0.1"/>
<define name="SPEED_GAIN" value="0.4"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="NAV_CLIMB_VSPEED" value="0.5"/>
<define name="NAV_RADIUS" value="1.5"/>
</section>
<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="motor1,motor2,motor3,motor4,motor5,motor6" type="string[]"/>
<define name="JSBSIM_MODEL" value="FAHEX" type="string"/>
<define name="COMMANDS_NB" value="6"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
<!--<define name="ACTUATORS_ORDER" value="{0,1,2,3,4,5}"/>
<define name="PYBULLET_MODULE" value="simple_Hexa_sim" type="string"/>
<define name="PYBULLET_URDF" value="hexa_6DOF_simple.urdf" type="string"/> -->
</section>
</airframe>
conf/airframes/ENAC/quadrotor/hoops_112_hinf_outdoor.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="HOOPS_112">
<description>
* Autopilot: TawakiV2
* Actuators: 4 in 1
* Telemetry: XBee
* GPS: Ublox M10
* RC: SBUS
</description>
<firmware name="rotorcraft">
<configure name="RTOS_DEBUG" value="FALSE"/>
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<target name="ap" board="tawaki_2.0">
<module name="radio_control" type="sbus"/>
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
<define name="TAWAKIV2_IMU_ROT" value=""/>
<define name="TAWAKIV2_MAG_ROT" value=""/>
<!-- Multiple agents simulation -->
<!--configure name="MODEM_PORT_OUT" value="4244"/>
<configure name="MODEM_PORT_IN" value="4245"/-->
</target>
<module name="telemetry" type="xbee_api"/>
<module name="actuators" type="dshot">
<configure name="DSHOT_BIDIR" value="TRUE"/>
</module>
<module name="board" type="tawaki_2.0">
<configure name="GYRO_AAF" value="213"/>
</module>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<define name="GPS_FIX_TIMEOUT" value="0.5"/>
</module>
<module name="stabilization" type="indi_hinf"/>
<module name="guidance" type="indi_hinf"/>
<module name="ins" type="ekf2"/>
<!--module name="preflight_checks"/-->
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_4"/>
</module>
<module name="flight_recorder"/>
<module name="logger_control_effectiveness">
<define name="LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS" value="TRUE"/>
</module>
</firmware>
<servos driver="DShot">
<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
<servo name="BR" no="1" min="0" neutral="100" max="2000"/>
<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale_f" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="-11,-9,101" type="int[]"/>
<field name="scale_f" value="{ 2.4583, 2.4578, 2.4534 }"/>
<field value="TAWAKIV2_IMU_ROT"/>
</field>
</define>
<define name="GYRO_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="false"/>
<field name="scale" value="false"/>
<field name="rotation" value="true"/>
</field>
<field value="TAWAKIV2_IMU_ROT"/>
</field>
</define>
<define name="MAG_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="3"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale_f" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="313,-1157,-860" type="int[]"/>
<field name="scale_f" value="{ 0.6651, 0.6756, 0.6696 }"/>
<field value="TAWAKIV2_MAG_ROT"/>
</field>
</define>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<include href="conf/mag/toulouse_muret.xml"/>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="90" unit="deg/s"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="100"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="90" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1" type="matrix">
<field value="{ -12.0, -12.0, 12.0, 12.0 }"/>
<field value="{ 14.0, -14.0, -14.0, 14.0 }"/>
<field value="{ 0.9, -0.9, 0.9, -0.9 }"/>
<field value="{ -0.7, -0.7 -0.7, -0.7}"/>
</define>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{70, -70, 70, -70.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{20.4, 20.4, 20.4, 20.4}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI_HINF" prefix="STABILIZATION_INDI_HINF_">
<define name="Ap" value="1."/>
<define name="Bp" value="0.03518"/>
<define name="Cp" value="0.0191"/>
<define name="Dp" value="7.643"/>
<define name="Ad" value="0.9013"/>
<define name="Bd" value="-0.02509"/>
<define name="Cd" value="91.15"/>
<define name="Dd" value="44.57"/>
</section>
<section name="GUIDANCE_INDI_HINF" prefix="GUIDANCE_INDI_HINF_">
<define name="Ap" value="0.9985"/>
<define name="Bp" value="0.04362"/>
<define name="Cp" value="0.009739"/>
<define name="Dp" value="0.5602"/>
<define name="Ad" value=" 1"/>
<define name="Bd" value="-0.01418"/>
<define name="Cd" value="-0.2814"/>
<define name="Dd" value=" 2.397"/>
<define name="Apz" value=" 0.9987"/>
<define name="Bpz" value="-0.0003935"/>
<define name="Cpz" value="-1.052"/>
<define name="Dpz" value=" 1.084"/>
<define name="Adz" value=" 1"/>
<define name="Bdz" value=" 0.003449"/>
<define name="Cdz" value=" 1.548"/>
<define name="Ddz" value=" 3.357"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-2.*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="45" unit="deg"/>
<define name="REF_MAX_SPEED" value="2.5"/>
<define name="REF_MAX_ACCEL" value="5."/>
<define name="REF_TAU" value="0.01"/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPEED_GAINZ" value="2.5"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="1."/>
<define name="NAV_CLIMB_VSPEED" value="0.8"/>
<define name="NAV_DESCEND_VSPEED" value="-0.6"/>
<define name="NAV_CARROT_DIST" value="5"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(_adc)" value="(1.2975*_adc-9970)"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10." unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
<define name="BAT_NB_CELLS" value="3"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_GUIDED"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
</airframe>
conf/modules/guidance_indi.xml
+3 -22
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@@ -3,30 +3,11 @@
<module name="guidance_indi" dir="guidance" task="control">
<doc>
<description>
Guidance controller for rotorcraft using INDI
Quadrotor indi guidance (meta-module for backward compatibility)
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="guidance_indi">
<dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation,guidance_rotorcraft</depends>
<provides>guidance,attitude_command</provides>
<depends>guidance_indi_quadrotor</depends>
</dep>
<header>
<file name="guidance_indi.h"/>
</header>
<init fun="guidance_indi_init()"/>
<init fun="guidance_indi_enter()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
<define name="GUIDANCE_INDI_USE_AS_DEFAULT" value="TRUE"/>
</makefile>
<makefile/>
</module>
conf/modules/guidance_indi_base.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi_base" dir="guidance" task="control">
<doc>
<description>
Base guidance controller for rotorcraft using INDI
Requires a model, e.g. quadrotor, fully_actuated, ...
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="guidance_indi">
<dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation,guidance_rotorcraft</depends>
<provides>guidance,attitude_command</provides>
</dep>
<header>
<file name="guidance_indi.h"/>
</header>
<init fun="guidance_indi_init()"/>
<init fun="guidance_indi_enter()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
<define name="GUIDANCE_INDI_USE_AS_DEFAULT" value="TRUE"/>
</makefile>
</module>
conf/modules/guidance_indi_fully_actuated.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi_fully_actuated" dir="guidance" task="control">
<doc>
<description>
Fully actuated hexacopter model for INDI guidance
</description>
<section name="GUIDANCE_INDI_FULLY_ACTUATED" prefix="GUIDANCE_INDI_">
<define name="MASS" value="1." description="mass of the aircraft in kg"/>
<define name="MAX_H_THRUST" value="1." description="maximum horizontal force in Newtons"/>
<define name="MAX_V_THRUST" value="15." description="maximum vertical force in Newtons"/>
</section>
</doc>
<dep>
<depends>guidance_indi_base</depends>
</dep>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi_fully_actuated.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="GUIDANCE_INDI_USE_WLS"/>
<define name="GUIDANCE_INDI_NU" value="6"/>
<test firmware="rotorcraft">
<define name="INDI_OUTPUTS" value="4"/>
<define name="INDI_NUM_ACT" value="4"/>
<define name="GUIDANCE_INDI_MASS" value="1"/>
<define name="GUIDANCE_INDI_NU" value="6"/>
</test>
</makefile>
</module>
conf/modules/guidance_indi_hinf.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi_hinf" dir="guidance" task="control">
<doc>
<description>
Hinfinity controller for INDI guidance outer loop
</description>
<section name="GUIDANCE_INDI_HINF" prefix="GUIDANCE_INDI_HINF_">
<define name="Ap" value="x" description="proportional A coef (horizontal)"/>
<define name="Bp" value="x" description="proportional B coef (horizontal)"/>
<define name="Cp" value="x" description="proportional C coef (horizontal)"/>
<define name="Dp" value="x" description="proportional D coef (horizontal)"/>
<define name="Ad" value="x" description="derivative A coef (horizontal)"/>
<define name="Bd" value="x" description="derivative B coef (horizontal)"/>
<define name="Cd" value="x" description="derivative C coef (horizontal)"/>
<define name="Dd" value="x" description="derivative D coef (horizontal)"/>
<define name="Apz" value="x" description="proportional A coef (vertical)"/>
<define name="Bpz" value="x" description="proportional B coef (vertical)"/>
<define name="Cpz" value="x" description="proportional C coef (vertical)"/>
<define name="Dpz" value="x" description="proportional D coef (vertical)"/>
<define name="Adz" value="x" description="derivative A coef (vertical)"/>
<define name="Bdz" value="x" description="derivative B coef (vertical)"/>
<define name="Cdz" value="x" description="derivative C coef (vertical)"/>
<define name="Ddz" value="x" description="derivative D coef (vertical)"/>
</section>
</doc>
<dep>
<depends>guidance_indi</depends>
</dep>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi_hinf.c" dir="$(SRC_FIRMWARE)/guidance"/>
<test firmware="rotorcraft"/>
</makefile>
</module>
conf/modules/guidance_indi_quadrotor.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi_quadrotor" dir="guidance" task="control">
<doc>
<description>
Basic quadrotor model for INDI guidance
</description>
</doc>
<dep>
<depends>guidance_indi_base</depends>
</dep>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi_quadrotor.c" dir="$(SRC_FIRMWARE)/guidance"/>
<test firmware="rotorcraft"/>
</makefile>
</module>
conf/modules/stabilization_indi_hinf.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_indi_hinf" dir="stabilization" task="control">
<doc>
<description>
Hinfinity controller for INDI stabilization outer loop
</description>
<section name="STABILIZATION_ATTITUDE_INDI_HINF" prefix="STABILIZATION_INDI_HINF_">
<define name="Ap" value="x" description="proportional A coef"/>
<define name="Bp" value="x" description="proportional B coef"/>
<define name="Cp" value="x" description="proportional C coef"/>
<define name="Dp" value="x" description="proportional D coef"/>
<define name="Ad" value="x" description="derivative A coef"/>
<define name="Bd" value="x" description="derivative B coef"/>
<define name="Cd" value="x" description="derivative C coef"/>
<define name="Dd" value="x" description="derivative D coef"/>
</section>
</doc>
<dep>
<depends>stabilization_indi</depends>
</dep>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_indi_hinf.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<test firmware="rotorcraft">
<define name="INDI_OUTPUTS" value="4"/>
<define name="INDI_NUM_ACT" value="4"/>
</test>
</makefile>
</module>
conf/simulator/jsbsim/aircraft/FAHEX.xml
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