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INDI hybrid updates (#2954)

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- Two interpolation segments during transition
- Quadratic lift effectiveness with airspeed
- Velocity setpoint input possible from module via ABI message
This commit is contained in:
Ewoud Smeur
2022-12-02 21:58:48 +01:00
committed by GitHub
parent 828ef4fc4d
commit bf4adb45a2
8 changed files with 92 additions and 17 deletions
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conf/airframes/ENAC/cyfoam.xml
+1 -1
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@@ -91,7 +91,7 @@
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.8"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="4000"/>
conf/airframes/examples/cube_orange.xml
+2 -2
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@@ -86,7 +86,7 @@
<module name="stabilization" type="indi_simple"/>
<module name="stabilization" type="rate_indi"/>
<module name="ins" type="ekf2"/>
<module name="air_data"/>
<!-- Internal MAG -->
@@ -112,7 +112,7 @@
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
conf/airframes/tudelft/cyfoam.xml
+2 -2
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@@ -1,6 +1,6 @@
<!--Mini-Cyclone EPP Airframe
Chimera AP
Xbee API
Xbee API
Ublox M8T
SBUS Futaba -->
@@ -296,7 +296,7 @@
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.8"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="3000"/>