Merge pull request #2137 from EwoudSmeur/fan_demo_branch

INDI settings and fan demo
2026-05-10 06:59:54 +08:00 · 2017-10-25 10:29:32 +02:00
parent 69329eb3ba f580c07814
commit 9f4ddd8f60
6 changed files with 298 additions and 7 deletions
@@ -98,6 +98,17 @@
   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
   gui_color="#ffffcccaccca"
  />
+  <aircraft
+   name="fan_demo"
+   ac_id="28"
+   airframe="airframes/TUDELFT/tudelft_bebop_indi_actuators.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/TUDELFT/fan_demo.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="#ffffcccaccca"
+  />
  <aircraft
   name="Bebop_actuators"
   ac_id="24"
@@ -0,0 +1,191 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="bebop_indi">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="bebop"/>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="udp"/>
+    </target>
+
+    <!--define name="USE_SONAR" value="TRUE"/-->
+
+	<!-- Subsystem section -->
+    <module name="telemetry" type="transparent_udp"/>
+    <module name="radio_control" type="datalink"/>
+    <module name="actuators" type="bebop"/>
+    <module name="imu" type="bebop"/>
+    <module name="gps" type="datalink"/>
+    <module name="stabilization" type="indi">
+      <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
+    </module>
+    <module name="stabilization" type="rate_indi"/>
+    <module name="ahrs" type="int_cmpl_quat">
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+      <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
+    </module>
+    <module name="ins" type="extended"/>
+    <module name="guidance" type="indi"/>
+    <module name="geo_mag"/>
+    <module name="air_data"/>
+    <module name="send_imu_mag_current"/>
+    <!--module name="logger_file">
+      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
+    </module-->
+  </firmware>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="6000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800"/>
+  </servos>
+
+  <command_laws>
+    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+  </command_laws>
+
+  <section name="AIR_DATA" prefix="AIR_DATA_">
+    <define name="CALC_AIRSPEED" value="FALSE"/>
+    <define name="CALC_TAS_FACTOR" value="FALSE"/>
+    <define name="CALC_AMSL_BARO" value="TRUE"/>
+  </section>
+
+  <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+  </section>
+
+  <!-- local magnetic field -->
+  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
+  <section name="AHRS" prefix="AHRS_">
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
+    <!-- Delft -->
+    <define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/>
+
+    <!-- For vibrating airfames -->
+    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
+    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
+  </section>
+
+  <section name="GUIDANCE_INDI">
+    <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
+    <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
+    <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+    <define name="GUIDANCE_INDI_POS_GAIN" value="0.7"/>
+    <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.5"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
+
+    <!-- Use GPS altitude measurments and set the R gain -->
+    <define name="USE_GPS_ALT" value="1"/>
+    <define name="VFF_R_GPS" value="0.01"/>
+  </section>
+
+  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoint limits for attitude stabilization rc flight -->
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="400" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <!-- control effectiveness -->
+    <define name="G1_ROLL" value="{20 , -20, -20 , 20 }"/>
+    <define name="G1_PITCH" value="{14 , 14, -14 , -14 }"/>
+    <define name="G1_YAW" value="{-1, 1, -1, 1}"/>
+    <define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}"/>
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2" value="{-61.2093,   65.3670,  -65.7419,   65.4516}"/>
+
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="600.0"/>
+    <define name="REF_ERR_Q" value="600.0"/>
+    <define name="REF_ERR_R" value="600.0"/>
+    <define name="REF_RATE_P" value="28.0"/>
+    <define name="REF_RATE_Q" value="28.0"/>
+    <define name="REF_RATE_R" value="28.0"/>
+
+    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
+    <define name="FILT_CUTOFF" value="5.0"/>
+
+    <!-- first order actuator dynamics -->
+    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="TRUE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="700"/>
+    <define name="HOVER_KD" value="200"/>
+    <define name="HOVER_KI" value="400"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <!-- Good weather -->
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
+    <define name="USE_REF" value="FALSE"/>
+    <!-- Bad weather -->
+    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
+    <define name="PGAIN" value="130"/>
+    <define name="DGAIN" value="200"/>
+    <define name="IGAIN" value="70"/>
+  </section>
+
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED" value="2.5"/>
+    <define name="DESCEND_VSPEED" value="-1.0"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="bebop" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+</airframe>
@@ -0,0 +1,77 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="0.4" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="20" name="Rotorcraft Optitrack (Delft)" security_height="0.2">
+  <header>
+#include "autopilot.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="CLIMB" x="1.2" y="-0.6"/>
+    <waypoint name="GOAL" x="2.0" y="2.0"/>
+    <waypoint name="STDBY" x="-0.7" y="-0.8"/>
+    <waypoint name="TD" x="-0.9" y="0.0"/>
+    <waypoint lat="51.990620" lon="4.376805" name="p1"/>
+    <waypoint lat="51.990611" lon="4.376783" name="p2"/>
+    <waypoint lat="51.9906213" lon="4.3768628" name="FA1"/>
+    <waypoint lat="51.9905874" lon="4.3767766" name="FA2"/>
+    <waypoint lat="51.9906409" lon="4.3767226" name="FA3"/>
+    <waypoint lat="51.9906737" lon="4.3768074" name="FA4"/>
+  </waypoints>
+  <sectors>
+    <sector color="red" name="Flight_Area">
+      <corner name="FA4"/>
+      <corner name="FA3"/>
+      <corner name="FA2"/>
+      <corner name="FA1"/>
+    </sector>
+  </sectors>
+  <blocks>
+    <block name="Wait GPS">
+      <call_once fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Holding point">
+      <call_once fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
+    </block>
+    <block name="Start Engine">
+      <call_once fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="Standby"/>
+      <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <stay wp="CLIMB"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <stay wp="STDBY"/>
+    </block>
+    <block name="stay_p1">
+      <call_once fun="nav_set_heading_deg(-30)"/>
+      <stay until="stage_time>3" wp="p1"/>
+    </block>
+    <block name="line_p1_p2">
+      <go from="p1" hmode="route" wp="p2"/>
+      <stay until="stage_time>10" wp="p2"/>
+      <go from="p2" hmode="route" wp="p1"/>
+      <stay until="stage_time>10" wp="p1"/>
+      <deroute block="line_p1_p2"/>
+    </block>
+    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
+      <call_once fun="NavSetWaypointHere(WP_TD)"/>
+    </block>
+    <block name="land">
+      <go wp="TD"/>
+    </block>
+    <block name="flare">
+      <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <exception cond="!nav_is_in_flight()" deroute="landed"/>
+      <call_once fun="NavStartDetectGround()"/>
+      <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
+    </block>
+    <block name="landed">
+      <call_once fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
+    </block>
+  </blocks>
+</flight_plan>
@@ -6,6 +6,14 @@
      Guidance controller for rotorcraft using INDI
    </description>
  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="guidance_indi">
+        <dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp_p" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
+        <dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kp_p" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
  <header>
    <file name="guidance_indi.h"/>
  </header>
@@ -37,13 +37,13 @@
  <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_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/>
+        <dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/>
+        <dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
+        <dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <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"/>
      </dl_settings>
    </dl_settings>
  </settings>
@@ -41,4 +41,8 @@ extern void stabilization_attitude_set_setpoint_rp_quat_f(struct FloatEulers* in
 extern float guidance_indi_thrust_specific_force_gain;
 extern struct FloatVect3 euler_cmd;

+// settings for guidance INDI
+extern float guidance_indi_pos_gain;
+extern float guidance_indi_speed_gain;
+
 #endif /* GUIDANCE_INDI_H */