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Antoine Drouin
2008-05-30 22:14:35 +00:00
parent 6ecd8ce55f
commit 5b2f92ecd4
4 changed files with 26 additions and 44 deletions
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conf/airframes/booz.xml
+16 -26
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@@ -108,39 +108,29 @@
</section>
<section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
<define name="RATE_PQ_PGAIN" value="-700."/>
<define name="RATE_PQ_DGAIN" value="15."/>
#define BOOZ_CONTROL_RATE_PQ_PGAIN -700.
#define BOOZ_CONTROL_RATE_PQ_DGAIN 15.
<define name="RATE_R_PGAIN" value="-600."/>
<define name="RATE_R_DGAIN" value="0."/>
#define BOOZ_CONTROL_RATE_R_PGAIN -600.
#define BOOZ_CONTROL_RATE_R_DGAIN 0.
<!-- setpoints for max stick throw in degres per second -->
<define name="RATE_PQ_MAX_SP" value="120."/>
<define name="RATE_R_MAX_SP" value="100."/>
/* setpoints for max stick throw in degres per second */
#define BOOZ_CONTROL_RATE_PQ_MAX_SP 120.
#define BOOZ_CONTROL_RATE_R_MAX_SP 100.
<define name="ATTITUDE_PHI_THETA_PGAIN" value="-1250."/>
<define name="ATTITUDE_PHI_THETA_DGAIN" value="-700."/>
<define name="ATTITUDE_PSI_PGAIN" value="-1050."/>
<define name="ATTITUDE_PSI_DGAIN" value="-850."/>
float booz_control_attitude_phi_sp;
float booz_control_attitude_theta_sp;
float booz_control_attitude_psi_sp;
float booz_control_attitude_phi_theta_pgain;
float booz_control_attitude_phi_theta_dgain;
float booz_control_attitude_psi_pgain;
float booz_control_attitude_psi_dgain;
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_PGAIN -1250.
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_DGAIN -700.
#define BOOZ_CONTROL_ATTITUDE_PSI_PGAIN -1050.
#define BOOZ_CONTROL_ATTITUDE_PSI_DGAIN -850.
/* setpoints for max stick throw in degres */
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_MAX_SP 30.
#define BOOZ_CONTROL_ATTITUDE_PSI_MAX_SP 45.
#define BOOZ_CONTROL_ATTITUDE_DT_UPDATE_SP (1./50.)
<!-- setpoints for max stick throw in degres -->
<define name="ATTITUDE_PHI_THETA_MAX_SP" value="30."/>
<define name="ATTITUDE_PSI_MAX_SP" value="45."/>
</section>
<makefile>
conf/autopilot/conf_booz.makefile
+1
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@@ -160,6 +160,7 @@ sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
sim.CFLAGS += -I$(BOOZ) -I$(TL)
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params.h\"
sim.srcs = $(SIMDIR)/main_booz_sim.c \
$(SIMDIR)/booz_flight_model.c \
conf/flight_plans/booz_test_1.xml
+9
View File
@@ -17,6 +17,15 @@
<stay wp="p2"/>
</block>
<!--
<block name="Steps roll -5, +5">
<while cond="TRUE">
<attitude alt="187" roll="5.0" until=" stage_time > 2" vmode="alt"/>
<attitude alt="187" roll="-5.0" until="stage_time > 2" vmode="alt"/>
</while>
</block>
-->
</blocks>
</flight_plan>
sw/airborne/booz/booz_control.c
-18
View File
@@ -45,15 +45,6 @@ float booz_control_rate_last_err_r;
pprz_t booz_control_commands[COMMANDS_NB];
#define BOOZ_CONTROL_RATE_PQ_PGAIN -700.
#define BOOZ_CONTROL_RATE_PQ_DGAIN 15.
#define BOOZ_CONTROL_RATE_R_PGAIN -600.
#define BOOZ_CONTROL_RATE_R_DGAIN 5.
/* setpoints for max stick throw in degres per second */
#define BOOZ_CONTROL_RATE_PQ_MAX_SP 120.
#define BOOZ_CONTROL_RATE_R_MAX_SP 100.
float booz_control_attitude_phi_sp;
@@ -64,15 +55,6 @@ float booz_control_attitude_phi_theta_dgain;
float booz_control_attitude_psi_pgain;
float booz_control_attitude_psi_dgain;
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_PGAIN -1250.
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_DGAIN -700.
#define BOOZ_CONTROL_ATTITUDE_PSI_PGAIN -1050.
#define BOOZ_CONTROL_ATTITUDE_PSI_DGAIN -850.
/* setpoints for max stick throw in degres */
#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_MAX_SP 30.
#define BOOZ_CONTROL_ATTITUDE_PSI_MAX_SP 45.
#define BOOZ_CONTROL_ATTITUDE_DT_UPDATE_SP (1./50.)