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Cleanup airframes: make test_all_confs (#3217)

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This commit is contained in:
Christophe De Wagter
2023-12-18 21:51:01 +01:00
committed by GitHub
parent 5fd7d56630
commit 94c79d42ca
89 changed files with 310 additions and 245 deletions
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conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
+7 -6
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@@ -91,13 +91,14 @@ Aggie Air ARK
</section>
<command_laws>
<!-- Use SERVO_FRONT_IDX to know the actuators array number, and user SERVO_FRONT_DRIVER_NO to use the xx-value defined in servo no="xx" -->
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT_IDX]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT_IDX]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT_IDX]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK_IDX]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[SERVO_BACK_LEFT_IDX]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[SERVO_FRONT_LEFT_IDX]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
conf/airframes/AGGIEAIR/aggieair_conf.xml
+1 -1
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
settings_modules="modules/battery_monitor.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_float_euler.xml"
gui_color="#ffff954c0000"
/>
<aircraft
conf/airframes/BR/bebop_indi.xml
+3 -3
View File
@@ -171,9 +171,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/BR/bebop_indi_frog.xml
+3 -3
View File
@@ -174,9 +174,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/BR/conf.xml
+1 -1
View File
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="white"
/>
<aircraft
conf/airframes/BR/ladybird_kit_indi_bart.xml
+3 -3
View File
@@ -142,9 +142,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
+3 -3
View File
@@ -235,9 +235,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
conf/airframes/ENAC/conf_enac.xml
+1 -1
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@@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ENAC/crazyflie_multi_ranger_test.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
conf/airframes/ENAC/cyfoam.xml
+6 -1
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@@ -157,6 +157,11 @@
</servos>
<commands>
<axis name="ELEVON_LEFT" failsafe_value="0"/>
<axis name="ELEVON_RIGHT" failsafe_value="0"/>
<axis name="MOTOR_RIGHT" failsafe_value="0"/>
<axis name="MOTOR_LEFT" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
@@ -234,7 +239,7 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.1, 0.1, 0.045, 0.045}"/>
<define name="ACT_FREQ" value="{52.7, 52.7, 23.0, 23.0}"/>
<define name="ACT_RATE_LIMIT" value="{170, 170, 9600, 9600}"/>
<define name="ACT_IS_SERVO" value="{1, 1, 0, 0}"/>
conf/airframes/ENAC/hoops_gen_ap.xml
+3 -3
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@@ -218,9 +218,9 @@
<define name="REF_RATE_R" value="28.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
+2 -2
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@@ -52,7 +52,7 @@
</module>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>
@@ -189,7 +189,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
<define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
conf/airframes/ENAC/quadrotor/bebop2_fish.xml
+3 -3
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@@ -168,9 +168,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
+3 -3
View File
@@ -170,9 +170,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
+3 -3
View File
@@ -216,9 +216,9 @@
<define name="FILT_CUTOFF_RDOT" value="8.0f"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03149f"/>
<define name="ACT_DYN_Q" value="0.03149f"/>
<define name="ACT_DYN_R" value="0.03149f"/>
<define name="ACT_FREQ_P" value="16.4"/>
<define name="ACT_FREQ_Q" value="16.4"/>
<define name="ACT_FREQ_R" value="16.4"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/ENAC/quadrotor/kakute_f7.xml
+3 -3
View File
@@ -212,9 +212,9 @@
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/ENAC/quadrotor/robobee.xml
+2 -2
View File
@@ -51,7 +51,7 @@
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="15.6"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>
@@ -202,7 +202,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{100, -100, 100, -100.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.02, 0.02, 0.02, 0.02}"/>
<define name="ACT_FREQ" value="{10.3, 10.3, 10.3, 10.3}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
conf/airframes/ENAC/quadrotor/ulysse_indi.xml
+2 -2
View File
@@ -54,7 +54,7 @@
</module>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>
@@ -183,7 +183,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
<define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
conf/airframes/KS/ks_bebop2_stereo.xml
+3 -3
View File
@@ -160,9 +160,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/KS/ks_mavtec1.xml
+3 -3
View File
@@ -183,9 +183,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/MM/bebop2_lum1_xbee.xml
+3 -3
View File
@@ -185,9 +185,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
+3 -3
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@@ -505,9 +505,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04"/>
<define name="ACT_DYN_Q" value="0.04"/>
<define name="ACT_DYN_R" value="0.04"/>
<define name="ACT_FREQ_P" value="20.9"/>
<define name="ACT_FREQ_Q" value="20.9"/>
<define name="ACT_FREQ_R" value="20.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->
conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
+3 -3
View File
@@ -273,9 +273,9 @@
<define name="FILT_CUTOFF" value="8.0f"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03149f"/>
<define name="ACT_DYN_Q" value="0.03149f"/>
<define name="ACT_DYN_R" value="0.03149f"/>
<define name="ACT_FREQ_P" value="16.4"/>/>
<define name="ACT_FREQ_Q" value="16.4"/>/>
<define name="ACT_FREQ_R" value="16.4"/>/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
+3 -3
View File
@@ -392,9 +392,9 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
+3 -3
View File
@@ -342,9 +342,9 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
+3 -3
View File
@@ -388,9 +388,9 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
+3 -3
View File
@@ -436,9 +436,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->
conf/airframes/OPENUAS/openuas_parrot_bebop.xml
+5 -5
View File
@@ -67,7 +67,7 @@
<module name="stabilization" type="indi">
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="53.9"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>
</target>
@@ -484,11 +484,11 @@ second order filter parameters -->
<define name="FILT_CUTOFF_RDOT" value="4.0"/> -->
<!-- first order actuator dynamics -->
<!-- <define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>-->
<!-- <define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>-->
<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
<define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
+3 -3
View File
@@ -492,9 +492,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->
conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
+3 -3
View File
@@ -586,9 +586,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/examples/bebop2_indi.xml
+3 -3
View File
@@ -130,9 +130,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml
+3 -3
View File
@@ -162,9 +162,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/examples/matek_h743_slim.xml
+3 -3
View File
@@ -215,9 +215,9 @@
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/examples/matek_h7_rotorcraft_hitl.xml
+3 -3
View File
@@ -214,9 +214,9 @@
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/examples/quadshot_asp21_FutabaPPMonUart1.xml
+3 -3
View File
@@ -235,9 +235,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
conf/airframes/examples/quadshot_asp21_spektrum.xml
+3 -3
View File
@@ -233,9 +233,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
conf/airframes/examples/trashcan.xml
+3 -3
View File
@@ -388,9 +388,9 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
conf/airframes/tudelft/ardrone2_OF_hover.xml
+3 -3
View File
@@ -197,9 +197,9 @@
<define name="FILT_CUTOFF" value="3.2" />
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06" />
<define name="ACT_DYN_Q" value="0.06" />
<define name="ACT_DYN_R" value="0.06" />
<define name="ACT_FREQ_P" value="31.7" />
<define name="ACT_FREQ_Q" value="31.7" />
<define name="ACT_FREQ_R" value="31.7" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
conf/airframes/tudelft/ardrone2_indi.xml
+3 -3
View File
@@ -152,9 +152,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/ardrone2_optitrack.xml
+3 -3
View File
@@ -126,9 +126,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_indi.xml
+1 -1
View File
@@ -115,7 +115,7 @@
<define name="ESTIMATION_FILT_CUTOFF" value="3.2f"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.08f, 0.08f, 0.08f, 0.08f}"/>
<define name="ACT_FREQ" value="{42.7, 42.7, 42.7, 42.7}"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_indi_convergence.xml
+3 -3
View File
@@ -154,9 +154,9 @@
<define name="FILT_CUTOFF_P" value="10.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_no_damping.xml
+4 -4
View File
@@ -25,7 +25,7 @@
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="31.7"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
@@ -150,9 +150,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_no_damping_WLS.xml
+2 -2
View File
@@ -24,7 +24,7 @@
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="31.7"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
@@ -141,7 +141,7 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
<define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_optitrack.xml
+3 -3
View File
@@ -150,9 +150,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
+3 -3
View File
@@ -191,9 +191,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop2_undistort_front.xml
+3 -3
View File
@@ -174,9 +174,9 @@
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop_OF_hover.xml
+4 -4
View File
@@ -24,7 +24,7 @@
<module name="ins" type="gps_passthrough"/>
<!-- module name="guidance" type="indi"/-->
<!-- <module name="guidance" type="indi"> <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN"
value="-500.0"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
value="-500.0"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="53.9"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> </module> -->
@@ -175,9 +175,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+3 -3
View File
@@ -215,9 +215,9 @@
<define name="FILT_ZETA_R" value="0.55"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop_course_orangeavoid.xml
+3 -3
View File
@@ -210,9 +210,9 @@
<define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
+3 -3
View File
@@ -224,9 +224,9 @@
<define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>

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