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changed rotorcraft guidance_h gains to positive

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This commit is contained in:
Felix Ruess
2011-11-30 23:23:35 +01:00
parent c8aa382e87
commit b78989045c
44 changed files with 168 additions and 168 deletions
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conf/airframes/CDW/debug_i2c.xml
+4 -4
View File
@@ -190,10 +190,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/ENAC/quadrotor/blender.xml
+4 -4
View File
@@ -219,10 +219,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+4 -4
View File
@@ -184,10 +184,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+4 -4
View File
@@ -165,10 +165,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-0"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="0"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="50"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+4 -4
View File
@@ -198,10 +198,10 @@
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-250"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-35"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="250"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="35"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/mkk1.xml
+4 -4
View File
@@ -218,10 +218,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/navgo.xml
+4 -4
View File
@@ -230,10 +230,10 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="140"/>
<define name="DGAIN" value="90"/>
<define name="IGAIN" value="30"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/ENAC/quadrotor/nova1.xml
+4 -4
View File
@@ -189,10 +189,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="120"/>
<define name="IGAIN" value="10"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
conf/airframes/NoVa_L.xml
+4 -4
View File
@@ -218,10 +218,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+3 -3
View File
@@ -171,9 +171,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+3 -3
View File
@@ -189,9 +189,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
conf/airframes/Poine/booz2_a1.xml
+3 -3
View File
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a1p.xml
+3 -3
View File
@@ -167,9 +167,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a7.xml
+4 -4
View File
@@ -190,10 +190,10 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/Poine/h_hex.xml
+3 -3
View File
@@ -158,9 +158,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+3 -3
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@@ -236,9 +236,9 @@ second attempt
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/A1000_LISA.xml
+3 -3
View File
@@ -174,9 +174,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/UofAdelaide/A1000_NOVA.xml
+5 -5
View File
@@ -196,11 +196,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+5 -5
View File
@@ -196,11 +196,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/booz2_a1000.xml
+3 -3
View File
@@ -238,9 +238,9 @@ second attempt
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/lisa_a1000.xml
+3 -3
View File
@@ -153,9 +153,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/booz2_flixr.xml
+3 -3
View File
@@ -206,9 +206,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
<define name="PGAIN" value="70"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="15"/>
</section>
<section name="BAT">
conf/airframes/booz2_ppzuav.xml
+5 -5
View File
@@ -171,11 +171,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/esden/jt_lisam.xml
+3 -3
View File
@@ -157,9 +157,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
conf/airframes/esden/lisa_asctec.xml
+3 -3
View File
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/esden/lisa_asctec_aspirin.xml
+3 -3
View File
@@ -163,9 +163,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/esden/lisa_m_pwm.xml
+3 -3
View File
@@ -183,9 +183,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/esden/lisa_pwm_aspirin.xml
+3 -3
View File
@@ -158,9 +158,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/esden/synerani_4B.xml
+3 -3
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@@ -161,9 +161,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/mm/rotor/qmk1.xml
+3 -3
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@@ -164,9 +164,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
conf/airframes/obsolete/booz2_Aron.xml
+3 -3
View File
@@ -155,9 +155,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_NoVa.xml
+5 -5
View File
@@ -196,11 +196,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="70"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_NoVa_001.xml
+5 -5
View File
@@ -196,11 +196,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_NoVa_002.xml
+5 -5
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@@ -196,11 +196,11 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
<define name="PGAIN" value="70"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_a2.xml
+3 -3
View File
@@ -155,9 +155,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_a3.xml
+3 -3
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@@ -140,9 +140,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_a4.xml
+3 -3
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@@ -118,9 +118,9 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_a5.xml
+3 -3
View File
@@ -159,9 +159,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_s1.xml
+3 -3
View File
@@ -151,9 +151,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/airframes/obsolete/booz2_x1.xml
+3 -3
View File
@@ -161,9 +161,9 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="BAT">
conf/settings/settings_UofAdelaide.xml
+5 -5
View File
@@ -66,11 +66,11 @@
<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
<dl_setting var="guidance_h_pgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
</dl_settings>
conf/settings/settings_booz2.xml
+5 -5
View File
@@ -55,11 +55,11 @@
<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
<dl_setting var="guidance_h_pgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
</dl_settings>
conf/settings/settings_booz2_jtm.xml
+5 -5
View File
@@ -55,11 +55,11 @@
<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
<dl_setting var="guidance_h_pgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp"/>
<dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd"/>
<dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
<dl_setting var="guidance_h_ngain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kn"/>
<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka"/>
<dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
</dl_settings>
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+11 -11
View File
@@ -86,11 +86,11 @@ void guidance_h_init(void) {
INT_VECT2_ZERO(guidance_h_pos_err_sum);
INT_EULERS_ZERO(guidance_h_rc_sp);
INT_EULERS_ZERO(guidance_h_command_body);
guidance_h_pgain = GUIDANCE_H_PGAIN;
guidance_h_igain = GUIDANCE_H_IGAIN;
guidance_h_dgain = GUIDANCE_H_DGAIN;
guidance_h_ngain = GUIDANCE_H_NGAIN;
guidance_h_again = GUIDANCE_H_AGAIN;
guidance_h_pgain = ABS(GUIDANCE_H_PGAIN);
guidance_h_igain = ABS(GUIDANCE_H_IGAIN);
guidance_h_dgain = ABS(GUIDANCE_H_DGAIN);
guidance_h_ngain = ABS(GUIDANCE_H_NGAIN);
guidance_h_again = ABS(GUIDANCE_H_AGAIN);
}
@@ -224,12 +224,12 @@ void guidance_h_run(bool_t in_flight) {
__attribute__ ((always_inline)) static inline void guidance_h_hover_run(void) {
/* compute position error */
VECT2_DIFF(guidance_h_pos_err, ins_ltp_pos, guidance_h_pos_sp);
VECT2_DIFF(guidance_h_pos_err, guidance_h_pos_sp, ins_ltp_pos);
/* saturate it */
VECT2_STRIM(guidance_h_pos_err, -MAX_POS_ERR, MAX_POS_ERR);
/* compute speed error */
VECT2_COPY(guidance_h_speed_err, ins_ltp_speed);
VECT2_COPY(guidance_h_speed_err, -ins_ltp_speed);
/* saturate it */
VECT2_STRIM(guidance_h_speed_err, -MAX_SPEED_ERR, MAX_SPEED_ERR);
@@ -293,13 +293,13 @@ __attribute__ ((always_inline)) static inline void guidance_h_nav_run(bool_t in
#endif
/* compute position error */
VECT2_DIFF(guidance_h_pos_err, ins_ltp_pos, guidance_h_pos_ref);
VECT2_DIFF(guidance_h_pos_err, guidance_h_pos_ref, ins_ltp_pos);
/* saturate it */
VECT2_STRIM(guidance_h_pos_err, -MAX_POS_ERR, MAX_POS_ERR);
/* compute speed error */
//VECT2_COPY(guidance_h_speed_err, ins_ltp_speed);
VECT2_DIFF(guidance_h_speed_err, ins_ltp_speed, guidance_h_speed_ref);
VECT2_DIFF(guidance_h_speed_err, guidance_h_speed_ref, ins_ltp_speed);
/* saturate it */
VECT2_STRIM(guidance_h_speed_err, -MAX_SPEED_ERR, MAX_SPEED_ERR);
@@ -321,8 +321,8 @@ __attribute__ ((always_inline)) static inline void guidance_h_nav_run(bool_t in
}
// multiply by vector orthogonal to speed
VECT2_ASSIGN(guidance_h_nav_err,
vect_prod * (-ins_ltp_speed.y),
vect_prod * ins_ltp_speed.x);
vect_prod * ins_ltp_speed.y,
vect_prod * (-ins_ltp_speed.x));
// divide by 2 times dist ( >> 16 )
VECT2_SDIV(guidance_h_nav_err, guidance_h_nav_err, dist*dist);
// *2 ??