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gaz -> throttle

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This commit is contained in:
Pascal Brisset
2006-08-22 12:12:36 +00:00
parent 1e53d33e82
commit bc4f0743dd
17 changed files with 22 additions and 174 deletions
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conf/flight_plans/EMAV2006.xml
-31
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@@ -1,35 +1,4 @@
<flight_plan ALT="450" GROUND_ALT="400" LAT0="52.524064" LON0="10.463673" MAX_DIST_FROM_HOME="1500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="1." MIN="0." STEP="1" VAR="z_constrast_mode"/>
<dl_setting MAX="1." MIN="0." STEP="1" VAR="rate_mode"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
</dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="attitude">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="roll_pgain"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="pitch_pgain"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_roll"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_vz_pgain"/>
</dl_settings>
<dl_settings name="nav">
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="climb_level_gaz"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="climb_pgain"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="altitude_pgain"/>
<dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="climb_igain"/>
<dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="course_pgain"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="climb_pitch_pgain"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.01" VAR="climb_pitch_igain"/>
</dl_settings>
</dl_settings>
</dl_settings>
<waypoints>
<waypoint NAME="HOME" X="0" Y="0"/>
<waypoint NAME="A" X="0" Y="0"/>
conf/flight_plans/airexpo.xml
+1 -8
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@@ -1,11 +1,4 @@
<flight_plan SECURITY_HEIGHT="25" lat0="43.449300" lon0="1.266300" ground_alt="189" qfu="270" alt="250" max_dist_from_home="450" name="AirExpo" airspace="airexpo">
<dl_settings>
<dl_setting VAR="ir_roll_neutral" MAX="0.2" STEP="0.01" MIN="-0.2"/>
<dl_setting VAR="ir_pitch_neutral" MAX="0.2" STEP="0.01" MIN="-0.2"/>
<dl_setting VAR="roll_pgain" MAX="15000" STEP="100" MIN="5000"/>
<dl_setting VAR="pitch_pgain" MAX="20000" STEP="100" MIN="10000"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-1"/>
</dl_settings>
<waypoints>
<waypoint name="HOME" x="-271.330646709" y="43.9746582191" alt="250."/>
<waypoint name="TX_W" x="-547.990853153" y="186.049398384" alt="250."/>
@@ -15,7 +8,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="gaz"/>
<heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
<heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
<deroute BLOCK="circlehome"/>
</block>
conf/flight_plans/example.xml
+1 -1
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@@ -14,7 +14,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
<deroute BLOCK="circlehome"/>
</block>
conf/flight_plans/flight_plan.dtd
+5 -5
View File
@@ -77,7 +77,7 @@ to CDATA #REQUIRED>
course CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
gaz CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
until CDATA #REQUIRED>
@@ -86,7 +86,7 @@ until CDATA #REQUIRED>
roll CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
gaz CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
until CDATA #REQUIRED>
@@ -107,7 +107,7 @@ pitch CDATA #IMPLIED
alt CDATA #IMPLIED
until CDATA #IMPLIED
approaching_time CDATA #IMPLIED
gaz CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED>
<!ATTLIST set
@@ -141,7 +141,7 @@ target CDATA #IMPLIED
cam_ac_target CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
gaz CDATA #IMPLIED
throttle CDATA #IMPLIED
until CDATA #IMPLIED>
<!ATTLIST survey_rectangle
@@ -153,7 +153,7 @@ wp2 CDATA #REQUIRED>
<!ATTLIST stay
wp CDATA #REQUIRED
vmode CDATA #IMPLIED
gaz CDATA #IMPLIED>
throttle CDATA #IMPLIED>
<!ATTLIST deroute
block CDATA #REQUIRED>
conf/flight_plans/generic.xml
+2 -2
View File
@@ -23,13 +23,13 @@
<circle radius="-75" wp="HOME"/>
</block>
<block name="climb 75">
<circle radius="estimator_z/2" wp="1" gaz="0.75" pitch="0.3" vmode="gaz"/>
<circle radius="estimator_z/2" wp="1" throttle="0.75" pitch="0.3" vmode="throttle"/>
</block>
<block name="stack 1">
<circle radius="estimator_z/2" wp="1"/>
</block>
<block name="descent 0" strip_button="Descent">
<circle radius="estimator_z/2" wp="1" gaz="0.0" pitch="-0.3" vmode="gaz"/>
<circle radius="estimator_z/2" wp="1" throttle="0.0" pitch="-0.3" vmode="throttle"/>
</block>
<block name="route12">
<go approaching_time="0" from="1" hmode="route" wp="2"/>
conf/flight_plans/grosslobke_start.xml
+1 -1
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@@ -11,7 +11,7 @@
<go wp="1"/>
<go WP="2"/>
<go WP="RWAY"/>
<stay gaz="0" vmode="gaz" wp="RWAY"/>
<stay throttle="0" vmode="throttle" wp="RWAY"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/grz.xml
-79
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@@ -2,85 +2,6 @@
<flight_plan NAME="GRZ" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
<dl_settings>
<dl_settings name="trim">
<dl_setting var="trim_roll" min="-1000" step="10" max="1000"/>
<dl_setting var="trim_pitch" min="-1000" step="10" max="1000"/>
<dl_setting var="trim_yaw" min="-1000" step="10" max="1000"/>
</dl_settings>
<dl_settings name="rate">
<dl_setting VAR="roll_dot_pid.p_gain" MAX="6000" STEP="100" MIN="2000"/>
<dl_setting VAR="roll_dot_pid.i_gain" MAX="750" STEP="0.05" MIN="0"/>
<dl_setting VAR="roll_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
<dl_setting VAR="roll_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
<dl_setting VAR="pitch_dot_pid.p_gain" MAX="-2000" STEP="100" MIN="-16000"/>
<dl_setting VAR="pitch_dot_pid.i_gain" MAX="5" STEP="0.05" MIN="0"/>
<dl_setting VAR="pitch_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
<dl_setting VAR="pitch_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
<dl_setting VAR="yaw_dot_pid.p_gain" MAX="-2000" STEP="100" MIN="-6000"/>
<dl_setting VAR="yaw_dot_pid.i_gain" MAX="5" STEP="0.05" MIN="0"/>
<dl_setting VAR="yaw_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
<dl_setting VAR="yaw_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
</dl_settings>
<dl_settings name="att">
<dl_setting VAR="roll_pid.p_gain" MAX="-0.1" STEP="0.1" MIN="-5."/>
<dl_setting VAR="roll_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="roll_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="pitch_pid.p_gain" MAX="-.1" STEP="0.1" MIN="-15."/>
<dl_setting VAR="pitch_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="pitch_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="yaw_pid.p_gain" MAX="-0.1" STEP="0.1" MIN="-5."/>
<dl_setting VAR="yaw_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="yaw_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="yaw_pid.set_point" MAX="3" STEP="0.1" MIN="-3"/>
<dl_setting VAR="pitch_pid.set_point" MAX="0.3" STEP="0.05" MIN="-0.3"/>
<dl_setting VAR="roll_pid.set_point" MAX="0.3" STEP="0.05" MIN="-0.3"/>
</dl_settings>
<dl_settings name="alt">
<dl_setting VAR="ctl_grz_z_dot_pgain" MAX="-500" STEP="100" MIN="-6000"/>
<dl_setting VAR="ctl_grz_z_dot_igain" MAX="5" STEP="0.05" MIN="0"/>
<dl_setting VAR="ctl_grz_z_dot_dgain" MAX="10" STEP="0.5" MIN="0"/>
<dl_setting VAR="ctl_grz_throttle_level" MAX="10000" STEP="100" MIN="3000"/>
<dl_setting VAR="ctl_grz_z_dot_sum_err" MAX="1000" STEP="10" MIN="0"/>
<dl_setting VAR="ctl_grz_z_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting VAR="ctl_grz_z_igain" MAX="10" STEP="0.5" MIN="0"/>
<dl_setting VAR="ctl_grz_z_dgain" MAX="10" STEP="0.5" MIN="0"/>
</dl_settings>
<dl_settings name="speed">
<dl_setting VAR="ve_pid.p_gain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="ve_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="ve_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
<dl_setting VAR="estimator_hspeed_mod" MAX="2" STEP="0.1" MIN="0"/>
<dl_setting VAR="estimator_hspeed_dir" MAX="3" STEP="0.1" MIN="-3"/>
<dl_setting VAR="ve_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
<dl_setting VAR="vn_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
<dl_setting VAR="sum_err_reset" MAX="1" STEP="1" MIN="0"/>
</dl_settings>
</dl_settings>
<waypoints>
<waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
</waypoints>
conf/flight_plans/muret1.xml
+2 -2
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@@ -35,7 +35,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
@@ -75,7 +75,7 @@
</block>
<block name="stop">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<stay wp="HOME" vmode="gaz" gaz="0"/>
<stay wp="HOME" vmode="throttle" throttle="0"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/muret2.xml
+2 -2
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@@ -35,7 +35,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
@@ -76,7 +76,7 @@
</block>
<block name="stop">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<stay wp="HOME" vmode="gaz" gaz="0"/>
<stay wp="HOME" vmode="throttle" throttle="0"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/muret3.xml
+2 -2
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@@ -35,7 +35,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
@@ -76,7 +76,7 @@
</block>
<block name="stop">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<stay wp="HOME" vmode="gaz" gaz="0"/>
<stay wp="HOME" vmode="throttle" throttle="0"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/muret4.xml
+2 -12
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@@ -2,16 +2,6 @@
<flight_plan NAME="example - Muret4" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
<dl_settings>
<dl_setting var="ir_roll_neutral" min="-0.3" max="0.3" step="0.01"/>
<dl_setting var="ir_pitch_neutral" min="-0.3" max="0.3" step="0.01"/>
<dl_setting var="roll_pgain" min="1000" max="15000" step="250"/>
<dl_setting var="pitch_pgain" min="1000" max="15000" step="250"/>
<dl_setting var="climb_level_gaz" min="0.3" max="0.7" step="0.05"/>
<dl_setting var="climb_pgain" min="-0.5" max="-0.01" step="0.01"/>
<dl_setting var="course_pgain" min="-1" max="-0.1" step="0.05"/>
</dl_settings>
<waypoints utm_x0="360284.8" utm_y0="4813595.5">
<waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
<waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
@@ -45,7 +35,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
@@ -85,7 +75,7 @@
</block>
<block name="stop">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<stay wp="HOME" vmode="gaz" gaz="0"/>
<stay wp="HOME" vmode="throttle" throttle="0"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/muret_demo_1.xml
+1 -1
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@@ -10,7 +10,7 @@
<blocks>
<block NAME="takeoff">
<while COND="(!launch)"/>
<heading COURSE="QFU" PITCH="0.15" VMODE="gaz" GAZ="0.8" UNTIL="(estimator_flight_time > 8)"/>
<heading COURSE="QFU" PITCH="0.15" VMODE="throttle" THROTTLE="0.8" UNTIL="(estimator_flight_time > 8)"/>
<heading COURSE="QFU" PITCH="0.15" VMODE="climb" CLIMB="3.0"UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
<block NAME="survey road 1">
conf/flight_plans/muret_for.xml
+1 -1
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@@ -9,7 +9,7 @@
<blocks>
<block name="init">
<while cond="(!launch)"/>
<heading course="QFU" gaz="0.8" pitch="0.15" until="(estimator_flight_time > 8)" vmode="gaz"/>
<heading course="QFU" throttle="0.8" pitch="0.15" until="(estimator_flight_time > 8)" vmode="throttle"/>
<heading climb="3.0" course="QFU" pitch="0.15" until="(estimator_z > SECURITY_ALT)" vmode="climb"/>
</block>
<block name="for">
conf/flight_plans/muret_mini.xml
-10
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@@ -2,16 +2,6 @@
<flight_plan NAME="Muret mini" LON0="1.27289" MAX_DIST_FROM_HOME="300" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
<dl_settings>
<dl_setting var="ir_roll_neutral" min="-0.3" max="0.3" step="0.01"/>
<dl_setting var="ir_pitch_neutral" min="-0.3" max="0.3" step="0.01"/>
<dl_setting var="roll_pgain" min="1000" max="15000" step="250"/>
<dl_setting var="pitch_pgain" min="1000" max="15000" step="250"/>
<dl_setting var="climb_level_gaz" min="0.3" max="0.7" step="0.05"/>
<dl_setting var="climb_pgain" min="-0.5" max="-0.01" step="0.01"/>
<dl_setting var="course_pgain" min="-1" max="-0.1" step="0.05"/>
</dl_settings>
<waypoints utm_x0="360284.8" utm_y0="4813595.5">
<waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
</waypoints>
conf/flight_plans/ricou_mini.xml
-15
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@@ -1,19 +1,4 @@
<flight_plan NAME="Ricou Mini" LON0="1.327747" MAX_DIST_FROM_HOME="400" GROUND_ALT="340" SECURITY_HEIGHT="25" QFU="245" ALT="390" LAT0="43.237535">
<dl_settings>
<dl_setting VAR="ir_roll_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="ir_pitch_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="roll_pgain" MAX="15000" STEP="250" MIN="1000"/>
<dl_setting VAR="pitch_pgain" MAX="15000" STEP="250" MIN="1000"/>
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting VAR="z_constrast_mode" MIN="0." STEP="0.1" MAX="1."/>
<dl_setting VAR="rate_mode" MIN="0." STEP="0.1" MAX="1."/>
<!--
<dl_setting VAR="roll_rate_pgain" MIN="0." STEP="1.0" MAX="2000."/>
<dl_setting VAR="attitude_pgain" MAX="100" STEP="1" MIN="10"/>
-->
</dl_settings>
<waypoints UTM_X0="364222.4" UTM_Y0="4788550.7">
<waypoint Y="-100.0" LON="1.32741460722" NAME="HOME" X="-29.0" LAT="43.2366296919" alt="390"/>
<waypoint name="1" x="-193.99999994" y="47.9999975627" alt="390."/>
conf/flight_plans/sinsat.xml
+1 -1
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@@ -6,7 +6,7 @@
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="gaz"/>
<heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
<heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
<deroute BLOCK="circlehome"/>
</block>
conf/flight_plans/zigzag.xml
+1 -1
View File
@@ -16,7 +16,7 @@
<block NAME="takeoff">
<exception COND="(RcEvent1())" DEROUTE="back"/>
<exception COND="(RcEvent2())" DEROUTE="target"/>
<heading vmode="gaz" gaz="0.7" pitch="0.15" course="280" until="(estimator_flight_time > 5)"/>
<heading vmode="throttle" throttle="0.7" pitch="0.15" course="280" until="(estimator_flight_time > 5)"/>
<go wp="WP1" alt="alt" approaching_time="1"/>
<go wp="WP2" alt="alt" approaching_time="1"/>
<go wp="WP3" alt="alt" approaching_time="1"/>