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Pull request with all the code for 6 DOF optical flow control, the ba… (#3028)
* Pull request with all the code for 6 DOF optical flow control, the basis of a Nature and Nature Machine Intelligence paper. * Camera ID was already added. * Remove a duplicate airframe file. * Cleanup * Simulator does not work with opticflow * Incorporated comments review * fix provides --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
This commit is contained in:
guidoAI
GitHub
@@ -3,8 +3,16 @@
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<airframe name="bebop2_opticflow">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2"/>
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<target name="ap" board="bebop">
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<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/> <!-- we did not include log before -->
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</target>
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<!-- <target name="nps" board="pc">
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<module name="fdm" type="gazebo"/>
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<define name="VIDEO_CAPTURE_PATH" value="/home/guido/paparazzi/images/"/>
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<define name="FILE_LOGGER_PATH" value="/home/guido/paparazzi/log/"/>
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</target>
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-->
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<define name="USE_SONAR"/>
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<module name="telemetry" type="transparent_udp"/>
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@@ -14,30 +22,104 @@
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi_simple"/>
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<!--
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module>
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<module name="ins" type="extended"/>
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<module name="ins" type="extended"/>
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-->
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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<module name="ins" type="flow"/>
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<!-- Disable use of GPS: -->
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<!-- <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
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</module> -->
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<module name="bebop_cam"/>
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<!-- <module name="geo_mag"/>
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<module name="air_data"/>
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<module name="gps" type="ubx_ucenter"/> -->
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<module name="bebop_cam">
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<!-- IMPORTANT to limit these or FPS drops significantly -->
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<!-- <define name="MT9F002_TARGET_FPS" value="30"/> --> <!-- Front cam -->
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<define name="MT9V117_TARGET_FPS" value="90"/> <!-- Bottom cam -->
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</module>
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<module name="pose_history"/>
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<module name="logger_file">
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<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
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<!-- <define name="LOGGER_FILE_PATH" value="/home/guido/paparazzi/log"/> -->
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</module>
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<module name="cv_opticflow">
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<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
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<define name="MAX_HORIZON" value="10"/>
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<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
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<define name="OPTICFLOW_FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
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<define name="OPTICFLOW_FOV_W" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
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<define name="OPTICFLOW_FOV_H" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
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<configure name="OPTICFLOW_MAX_TRACK_CORNERS" value="20"/>
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<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="0"/>
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<define name="OPTICFLOW_FPS" value="0"/>
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<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
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<define name="OPTICFLOW_SHOW_FLOW" value="1"/>
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<!--
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<define name="OPTICFLOW_CAMERA2" value="front_camera"/>
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X_CAMERA2" value="0.8"/>
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y_CAMERA2" value="0.85"/>
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<configure name="OPTICFLOW_MAX_TRACK_CORNERS_CAMERA2" value="20"/>
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<define name="OPTICFLOW_FEATURE_MANAGEMENT_CAMERA2" value="0"/>
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<define name="OPTICFLOW_FPS_CAMERA2" value="0"/>
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<define name="OPTICFLOW_PYRAMID_LEVEL_CAMERA2" value="0"/>
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<define name="OPTICFLOW_SHOW_FLOW_CAMERA2" value="1"/> -->
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</module>
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<!-- <module name="video_rtp_stream">
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<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
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<module name="video_rtp_stream">
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<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
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<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
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<define name="VIEWVIDEO_FPS" value="5"/>
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<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
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</module> -->
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
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</module>
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<module name="video_capture">
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<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
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</module>
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<!-- TODO: perhaps grey because of placement after optical flow? -->
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<module name="cv_textons.xml">
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<define name="TEXTONS_FPS" value="1"/>
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<define name="TEXTONS_CAMERA" value="bottom_camera"/>
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<define name="TEXTONS_N_TEXTONS" value="20"/>
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<define name="TEXTONS_DICTIONARY_PATH" value="/data/ftp/internal_000"/>
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</module>
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<module name="optical_flow_landing.xml">
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<define name="OFL_COV_SETPOINT" value="-0.075"/>
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<define name="OFL_PGAIN" value="0.15"/>
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<define name="OFL_IGAIN" value="0.005"/>
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<define name="OFL_LP_CONST" value="0.033"/>
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<define name="OFL_CLOSE_TO_EDGE" value="0.025"/>
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<define name="OFL_IGAIN_ADAPTIVE" value="0.10"/>
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<define name="OFL_CONTROL_METHOD" value="0"/> <!-- 1 is adaptive gain -->
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<define name="OFL_P_LAND_THRESHOLD" value="0.25"/>
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<define name="OFL_COV_LANDING_LIMIT" value="10.0"/>
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</module>
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</firmware>
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<commands>
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@@ -70,6 +152,19 @@
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
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<define name="OUTPUT_HEIGHT" value="240" />
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<define name="OUTPUT_WIDTH" value="240" />
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<define name="OFFSET_X" value="0.14" />
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<define name="ZOOM" value="3.2"/>
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<!--define name="GAIN_GREEN1" value="10.0"/>
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<define name="GAIN_GREEN2" value="10.0"/>
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<define name="GAIN_BLUE" value="12.5"/>
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<define name="GAIN_RED" value="9.0"/-->
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<define name="TARGET_EXPOSURE" value="10" />
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</section>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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@@ -84,30 +179,36 @@
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<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
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<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
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<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="62"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="-35"/>
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<define name="ACCEL_X_SENS" value="2.43379017884412" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44705938467942" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.4327471718063234" integer="16"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<!--
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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-->
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<!--
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<section name="INS" prefix="INS_">
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<define name="USE_GPS_ALT" value="1"/>
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<!-- trust GPS a lot: -->
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<define name="VFF_R_GPS" value="0.01"/>
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<define name="VFF_VZ_R_GPS" value="0.01"/>
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<define name="SONAR_MIN_RANGE" value="0.0"/>
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<define name="SONAR_MAX_RANGE" value="3.5"/>
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="FALSE"/>
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</section>
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-->
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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@@ -119,6 +220,14 @@
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<!--define name="JSBSIM_MODEL" value="bebop" type="string"/-->
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<define name="MT9F002_SENSOR_RES_DIVIDER" value="4"/>
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</section>
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<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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@@ -141,9 +250,18 @@
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<!-- control effectiveness, can be obtained by switching on "adaptive" in the indi settings -->
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<define name="G1_P" value="0.100"/>
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<define name="G1_Q" value="0.050"/>
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<define name="G1_R" value="0.0010"/>
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<define name="G1_R" value="0.0075"/>
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<define name="G2_R" value="0.236"/>
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<!-- Here it is assumed that your removed the damping from your bebop2!
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The dampers do not really damp, but cause oscillation. By removing/
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fixing them, the bebop2 will fly much better-->
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<define name="FILTER_ROLL_RATE" value="FALSE"/>
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<define name="FILTER_PITCH_RATE" value="FALSE"/>
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<!--define name="FILTER_YAW_RATE" value="FALSE"/-->
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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@@ -152,7 +270,16 @@
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<define name="FILT_CUTOFF" value="3.2"/>
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<!-- second order filter parameters -->
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<!-- old?
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<define name="FILT_OMEGA" value="20.0"/>
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<define name="FILT_ZETA" value="0.7"/>
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<define name="FILT_OMEGA_R" value="20.0"/>
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<define name="FILT_ZETA_R" value="0.7"/>
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-->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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@@ -182,13 +309,13 @@
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<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
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<define name="MAX_BANK" value="35" unit="deg"/>
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<define name="PGAIN" value="82"/> <!-- GPS: 120 no GPS: 0-->
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<define name="DGAIN" value="68"/> <!-- GPS: 80 no GPS: 302-->
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<define name="DGAIN" value="102"/> <!-- GPS: 80 no GPS: 302-->
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<define name="IGAIN" value="10"/> <!-- GPS: 30 no GPS: 0-->
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="0.5"/>
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<define name="DESCEND_VSPEED" value="-0.5"/>
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<define name="CLIMB_VSPEED" value="1.0"/>
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<define name="DESCEND_VSPEED" value="-0.75"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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@@ -197,20 +324,43 @@
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</section>
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<section name="AUTOPILOT">
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<!--
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<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO1" value="AP_MODE_NAV"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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-->
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<!--
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
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<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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-->
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<!--
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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-->
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<!--
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<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
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-->
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||||
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
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</section>
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||||
|
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<section name="GCS">
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<define name="AC_ICON" value="quadrotor_x"/>
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</section>
|
||||
|
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<section name="BAT">
|
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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+85
-35
@@ -1,13 +1,19 @@
|
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
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|
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<airframe name="bebop2_opticflow">
|
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<description>?
|
||||
</description>
|
||||
|
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<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop2"/>
|
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<define name="USE_SONAR"/>
|
||||
<target name="ap" board="bebop">
|
||||
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/> <!-- we did not include log before -->
|
||||
</target>
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="gazebo"/>
|
||||
<define name="VIDEO_CAPTURE_PATH" value="/home/guido/paparazzi/images"/>
|
||||
<define name="FILE_LOGGER_PATH" value="/home/guido/paparazzi/log"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_SONAR"/>
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
@@ -15,46 +21,71 @@
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="datalink"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
|
||||
<!--
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
|
||||
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
||||
</module>
|
||||
<module name="ins" type="hff_extended"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/> -->
|
||||
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
|
||||
<module name="ins" type="flow"/>
|
||||
<!-- These are already defined in fdm_gazebo
|
||||
<define name="NPS_BYPASS_AHRS" value="FALSE"/>
|
||||
<define name="NPS_BYPASS_INS" value="FALSE"/>
|
||||
-->
|
||||
|
||||
<!-- Disable use of GPS: -->
|
||||
<!-- <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
|
||||
</module> -->
|
||||
|
||||
|
||||
<!-- <module name="geo_mag"/>
|
||||
<module name="send_imu_mag_current"/> -->
|
||||
<module name="air_data"/>
|
||||
<!-- <module name="gps" type="ubx_ucenter"/> -->
|
||||
<module name="logger_file">
|
||||
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
|
||||
<module name="bebop_cam"/>
|
||||
<module name="video_thread"/>
|
||||
|
||||
<module name="pose_history"/>
|
||||
|
||||
<module name="logger_file">
|
||||
<!-- <define name="FILE_LOGGER_PATH" value="/home/guido/paparazzi/log"/> -->
|
||||
</module>
|
||||
|
||||
<module name="cv_opticflow">
|
||||
<define name="OPTICFLOW_FPS" value="90"/>
|
||||
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
|
||||
<define name="MAX_HORIZON" value="10"/>
|
||||
<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
|
||||
<define name="OPTICFLOW_FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
|
||||
<define name="OPTICFLOW_FOV_W" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
|
||||
<define name="OPTICFLOW_FOV_H" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
|
||||
</module>
|
||||
|
||||
<module name="video_capture">
|
||||
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
|
||||
<!-- <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/> -->
|
||||
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
|
||||
</module>
|
||||
|
||||
<module name="cv_textons.xml">
|
||||
<define name="TEXTONS_FPS" value="1"/>
|
||||
<define name="TEXTONS_CAMERA" value="bottom_camera"/>
|
||||
<define name="TEXTONS_N_TEXTONS" value="20"/>
|
||||
<define name="TEXTONS_DICTIONARY_PATH" value="./"/>
|
||||
</module>
|
||||
|
||||
<module name="optical_flow_landing.xml"/>
|
||||
|
||||
<!-- <module name="video_rtp_stream">
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
|
||||
</module> -->
|
||||
</module>
|
||||
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
@@ -103,28 +134,28 @@
|
||||
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
|
||||
</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 -->
|
||||
|
||||
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
||||
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
|
||||
<!-- Delft -->
|
||||
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<!--
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="USE_GPS_ALT" value="1"/>
|
||||
<!-- trust GPS a lot: -->
|
||||
<define name="VFF_R_GPS" value="0.01"/>
|
||||
<define name="VFF_VZ_R_GPS" value="0.01"/>
|
||||
<define name="SONAR_MIN_RANGE" value="0.0"/>
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
-->
|
||||
|
||||
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
@@ -136,6 +167,14 @@
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
</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="MT9F002_SENSOR_RES_DIVIDER" value="4"/>
|
||||
</section>
|
||||
<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
|
||||
|
||||
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
@@ -154,12 +193,14 @@
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- SIMULATION SETTINGS -->
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness, can be obtained by switching on "adaptive" in the indi settings -->
|
||||
<define name="G1_P" value="0.100"/>
|
||||
<define name="G1_Q" value="0.050"/>
|
||||
<define name="G1_R" value="0.0010"/>
|
||||
<define name="G2_R" value="0.236"/>
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.0397"/>
|
||||
<define name="G1_Q" value="0.0299"/>
|
||||
<define name="G1_R" value="0.0014"/>
|
||||
<define name="G2_R" value="0.1219"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="600.0"/>
|
||||
@@ -169,12 +210,17 @@
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="120.0" unit="deg/s"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="8.0"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
|
||||
|
||||
<!-- 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_DYN_P" value="0.1"/>
|
||||
<define name="ACT_DYN_Q" value="0.1"/>
|
||||
<define name="ACT_DYN_R" value="0.1"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
@@ -208,17 +254,21 @@
|
||||
<define name="DESCEND_VSPEED" value="-0.75"/>
|
||||
</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="simple_x_quad_ccw" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
|
||||
|
||||
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
|
||||
<!--
|
||||
<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_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
-->
|
||||
<!--
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
|
||||
Reference in New Issue
Block a user