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some settings for indi full (#2002)

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Ewoud Smeur
2017-02-09 10:23:34 +01:00
committed by Felix Ruess
parent b1f6cde2c2
commit 8340f82d02
2 changed files with 15 additions and 0 deletions
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conf/modules/stabilization_indi.xml
+13
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@@ -46,6 +46,19 @@
<define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="indi">
<dl_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true"/>
<dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
<dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
<dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="stabilization" type="rotorcraft"/>
<header>
<file name="stabilization_indi.h"/>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
+2
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@@ -29,6 +29,8 @@
extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
extern bool indi_use_adaptive;
struct ReferenceSystem {
float err_p;
float err_q;