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remove lift eff scaling (#2728)

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This commit is contained in:
Ewoud Smeur
2021-05-19 15:17:22 +02:00
committed by GitHub
parent fb428ba7cc
commit 55653afd50
6 changed files with 6 additions and 11 deletions
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conf/airframes/tudelft/neddrone4.xml
-1
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@@ -115,7 +115,6 @@
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
<define name="GUIDANCE_INDI_LIFT_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
conf/airframes/tudelft/neddrone5.xml
-1
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@@ -113,7 +113,6 @@
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
<define name="GUIDANCE_INDI_LIFT_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
conf/modules/guidance_indi_hybrid.xml
-1
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@@ -14,7 +14,6 @@
<dl_setting var="gih_params.speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="gih_params.speed_gainz" min="0" step="0.1" max="10.0" shortname="kd_z" param="GUIDANCE_INDI_SPEED_GAINZ" persistent="true"/>
<dl_setting var="gih_params.heading_bank_gain" min="0" step="0.1" max="30.0" shortname="bank gain" param="GUIDANCE_INDI_HEADING_BANK_GAIN" persistent="true"/>
<dl_setting var="lift_eff_scaling" min="0" step="0.1" max="5.0" shortname="lift_eff_scaling" param="GUIDANCE_INDI_LIFT_EFF_SCALING" persistent="true"/>
<dl_setting var="guidance_indi_max_airspeed" min="12.0" step="1.0" max="30.0" shortname="cruise_airspeed"/>
<dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0" shortname="nav_max_speed"/>
<dl_setting var="guidance_indi_max_bank" min="10.0" step="1.0" max="50.0" shortname="max_bank"/>
conf/userconf/tudelft/conf.xml
+1 -1
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@@ -293,8 +293,8 @@
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
settings="settings/rotorcraft_basic.xml"
gui_color="blue"
settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
/>
<aircraft
sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
+5 -6
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@@ -84,14 +84,14 @@ float nav_max_speed = NAV_MAX_SPEED;
#define MAX_DECELERATION 1.
#endif
/*Boolean to force the heading to a static value (only use for specific experiments)*/
bool take_heading_control = false;
struct FloatVect3 sp_accel = {0.0,0.0,0.0};
#ifdef GUIDANCE_INDI_SPECIFIC_FORCE_GAIN
float guidance_indi_specific_force_gain = GUIDANCE_INDI_SPECIFIC_FORCE_GAIN;
static void guidance_indi_filter_thrust(void);
/*Boolean to force the heading to a static value (only use for specific experiments)*/
bool take_heading_control = false;
#ifndef GUIDANCE_INDI_THRUST_DYNAMICS
#ifndef STABILIZATION_INDI_ACT_DYN_P
#error "You need to define GUIDANCE_INDI_THRUST_DYNAMICS to be able to use indi vertical control"
@@ -119,7 +119,6 @@ float guidance_indi_line_gain = 1.0;
float inv_eff[4];
float lift_pitch_eff = GUIDANCE_INDI_PITCH_LIFT_EFF;
float lift_eff_scaling = GUIDANCE_INDI_LIFT_EFF_SCALING;
// Max bank angle in radians
float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK;
@@ -538,9 +537,9 @@ float guidance_indi_get_liftd(float airspeed, float theta) {
float pitch_interp = DegOfRad(theta);
Bound(pitch_interp, -80.0, -40.0);
float ratio = (pitch_interp + 40.0)/(-40.);
liftd = -24.0*ratio*lift_pitch_eff/0.12*lift_eff_scaling;
liftd = -24.0*ratio*lift_pitch_eff/0.12;
} else {
liftd = -(airspeed - 8.5)*lift_pitch_eff/M_PI*180.0*lift_eff_scaling;
liftd = -(airspeed - 8.5)*lift_pitch_eff/M_PI*180.0;
}
//TODO: bound liftd
return liftd;
sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
-1
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@@ -53,7 +53,6 @@ extern struct guidance_indi_hybrid_params gih_params;
extern float guidance_indi_specific_force_gain;
extern float guidance_indi_max_airspeed;
extern float nav_max_speed;
extern float lift_eff_scaling;
extern bool take_heading_control;
extern float guidance_indi_max_bank;