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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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tests/modules/generated/airframe.h
+28
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@@ -62,4 +62,32 @@
#define STABILIZATION_ATTITUDE_SP_MAX_R 1.04719755
#define STABILIZATION_ATTITUDE_DEADBAND_R 250
#define SECTION_STABILIZATION_ATTITUDE_INDI_HINF 1
#define STABILIZATION_INDI_HINF_Ap 1.
#define STABILIZATION_INDI_HINF_Bp 0.03518
#define STABILIZATION_INDI_HINF_Cp 0.0191
#define STABILIZATION_INDI_HINF_Dp 7.643
#define STABILIZATION_INDI_HINF_Ad 0.9013
#define STABILIZATION_INDI_HINF_Bd -0.02509
#define STABILIZATION_INDI_HINF_Cd 91.15
#define STABILIZATION_INDI_HINF_Dd 44.57
#define SECTION_GUIDANCE_INDI_HINF 1
#define GUIDANCE_INDI_HINF_Ap 0.9985
#define GUIDANCE_INDI_HINF_Bp 0.04362
#define GUIDANCE_INDI_HINF_Cp 0.009739
#define GUIDANCE_INDI_HINF_Dp 0.5602
#define GUIDANCE_INDI_HINF_Ad 1
#define GUIDANCE_INDI_HINF_Bd -0.01418
#define GUIDANCE_INDI_HINF_Cd -0.2814
#define GUIDANCE_INDI_HINF_Dd 2.397
#define GUIDANCE_INDI_HINF_Apz 0.9987
#define GUIDANCE_INDI_HINF_Bpz -0.0003935
#define GUIDANCE_INDI_HINF_Cpz -1.052
#define GUIDANCE_INDI_HINF_Dpz 1.084
#define GUIDANCE_INDI_HINF_Adz 1
#define GUIDANCE_INDI_HINF_Bdz 0.003449
#define GUIDANCE_INDI_HINF_Cdz 1.548
#define GUIDANCE_INDI_HINF_Ddz 3.357
#endif // AIRFRAME_H