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Adding twisting and state feedback controllers. Twisting is done on tilt axis only and works mostly. sfb is just a start.

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This commit is contained in:
Paul Cox
2010-08-26 15:40:02 +00:00
parent 6744d3832a
commit 969fd00b52
11 changed files with 644 additions and 71 deletions
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conf/airframes/Poine/beth.xml
+61
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@@ -238,9 +238,70 @@ main_overo.LDFLAGS += -levent -lm
main_overo.srcs += $(SRC_BETH)/overo_gcs_com.c
main_overo.srcs += $(SRC_BETH)/overo_file_logger.c
main_overo.srcs += $(SRC_BETH)/overo_estimator.c
main_overo.CFLAGS += -DCONTROLLER_H=\"overo_controller.h\"
main_overo.srcs += $(SRC_BETH)/overo_controller.c
#
# Overo twisting
#
USER =
HOST = auto3
TARGET_DIR = ~
SRC_FMS=fms
overo_twist.ARCHDIR = omap
overo_twist.CFLAGS = -I. -I$(SRC_FMS)
overo_twist.srcs = $(SRC_BETH)/main_overo.c
overo_twist.CFLAGS += -DFMS_PERIODIC_FREQ=512
overo_twist.srcs += $(SRC_FMS)/fms_periodic.c
overo_twist.srcs += $(SRC_FMS)/fms_serial_port.c
overo_twist.LDFLAGS += -lrt
overo_twist.srcs += $(SRC_FMS)/fms_spi_link.c
overo_twist.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
overo_twist.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_twist.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_twist.srcs += $(SRC_FMS)/fms_network.c
overo_twist.LDFLAGS += -levent -lm
overo_twist.srcs += $(SRC_BETH)/overo_gcs_com.c
overo_twist.srcs += $(SRC_BETH)/overo_file_logger.c
overo_twist.srcs += $(SRC_BETH)/overo_estimator.c
overo_twist.CFLAGS += -DCONTROLLER_H=\"overo_twist_controller.h\"
overo_twist.srcs += $(SRC_BETH)/overo_twist_controller.c
#
# Overo state feedback
#
USER =
HOST = auto3
TARGET_DIR = ~
SRC_FMS=fms
overo_sfb.ARCHDIR = omap
overo_sfb.CFLAGS = -I. -I$(SRC_FMS)
overo_sfb.srcs = $(SRC_BETH)/main_overo.c
overo_sfb.CFLAGS += -DFMS_PERIODIC_FREQ=512
overo_sfb.srcs += $(SRC_FMS)/fms_periodic.c
overo_sfb.srcs += $(SRC_FMS)/fms_serial_port.c
overo_sfb.LDFLAGS += -lrt
overo_sfb.srcs += $(SRC_FMS)/fms_spi_link.c
overo_sfb.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
overo_sfb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_sfb.srcs += $(SRC_FMS)/fms_network.c
overo_sfb.LDFLAGS += -levent -lm
overo_sfb.srcs += $(SRC_BETH)/overo_gcs_com.c
overo_sfb.srcs += $(SRC_BETH)/overo_file_logger.c
overo_sfb.srcs += $(SRC_BETH)/overo_estimator.c
overo_sfb.CFLAGS += -DCONTROLLER_H=\"overo_sfb_controller.h\"
overo_sfb.srcs += $(SRC_BETH)/overo_sfb_controller.c
#
#
#