Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-23 13:24:03 +08:00
Code Issues Actions 24 Packages Projects Releases Wiki Activity

[rotorcraft] settings and rough example for float ahrs/stabilization

Browse Source
This commit is contained in:
Felix Ruess
2013-06-19 21:19:07 +02:00
parent e4a3316d81
commit ca67df9576
4 changed files with 265 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/examples/quadrotor_mlkf.xml
+228
View File
@@ -0,0 +1,228 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Quadrotor with floating point unit">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<configure name="FLASH_MODE" value="SWD"/>
<!-- MPU6000 is configured to output data at 500Hz -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="USE_MAGNETOMETER" value="1"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART1"/>
</subsystem>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="float_quat"/>
<subsystem name="ahrs" type="float_mlkf">
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
</subsystem>
<subsystem name="ins"/>
</firmware>
<modules main_freq="512">
<load name="sys_mon.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FRONT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="BACK" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="LEFT" no="3" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- front/back turning CW, right/left CCW -->
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<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>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="{RadOfDeg(800)}"/>
<define name="REF_ZETA_P" value="{0.85}"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="{RadOfDeg(800)}"/>
<define name="REF_ZETA_Q" value="{0.85}"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="{RadOfDeg(500)}"/>
<define name="REF_ZETA_R" value="{0.85}"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="{1000}"/>
<define name="PHI_DGAIN" value="{1000}"/>
<define name="PHI_IGAIN" value="{200}"/>
<define name="THETA_PGAIN" value="{1000}"/>
<define name="THETA_DGAIN" value="{1000}"/>
<define name="THETA_IGAIN" value="{200}"/>
<define name="PSI_PGAIN" value="{500}"/>
<define name="PSI_DGAIN" value="{500}"/>
<define name="PSI_IGAIN" value="{10}"/>
<!-- feedback angular acceleration error -->
<define name="PHI_DGAIN_D" value="{100}"/>
<define name="THETA_DGAIN_D" value="{100}"/>
<define name="PSI_DGAIN_D" value="{100}"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="{300}"/>
<define name="THETA_DDGAIN" value="{300}"/>
<define name="PSI_DDGAIN" value="{300}"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="100"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_MODE_AXIS" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/settings/control/stabilization_att_float_quat.xml
+27
View File
@@ -0,0 +1,27 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Att Loop">
<dl_setting var="stabilization_gains[0].p.x" min="1" step="1" max="8000" module="stabilization/stabilization_attitude" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
<dl_setting var="stabilization_gains[0].i.x" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
<dl_setting var="stabilization_gains[0].d.x" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
<dl_setting var="stabilization_gains[0].rates_d.x" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
<dl_setting var="stabilization_gains[0].dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
<dl_setting var="stabilization_gains[0].p.y" min="1" step="1" max="8000" module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
<dl_setting var="stabilization_gains[0].i.y" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
<dl_setting var="stabilization_gains[0].d.y" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
<dl_setting var="stabilization_gains[0].rates_d.y" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D"/>
<dl_setting var="stabilization_gains[0].dd.y" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
<dl_setting var="stabilization_gains[0].p.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
<dl_setting var="stabilization_gains[0].i.z" min="0" step="1" max="400" module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
<dl_setting var="stabilization_gains[0].d.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
<dl_setting var="stabilization_gains[0].rates_d.z" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
<dl_setting var="stabilization_gains[0].dd.z" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
+8 -2
View File
@@ -23,7 +23,7 @@
/**
* @file subsystems/ahrs/ahrs_float_mlkf.c
*
* Mulitplicative linearized Kalman Filter in quaternion formulation.
* Multiplicative linearized Kalman Filter in quaternion formulation.
*
* Estimate the attitude, heading and gyro bias.
*/
@@ -46,6 +46,10 @@
//#include <stdio.h>
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
static inline void propagate_ref(void);
static inline void propagate_state(void);
static inline void update_state(const struct FloatVect3 *i_expected, struct FloatVect3* b_measured, const float noise[]);
@@ -144,10 +148,12 @@ static inline void propagate_ref(void) {
/* converts gyro to floating point */
struct FloatRates gyro_float;
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro_prev);
// printf("propagate_ref %f\n", gyro_float.p);
/* unbias measurement */
RATES_SUB(gyro_float, ahrs_impl.gyro_bias);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
/* lowpass angular rates */
const float alpha = 0.1;
FLOAT_RATES_LIN_CMB(ahrs_impl.imu_rate, ahrs_impl.imu_rate,
(1.-alpha), gyro_float, alpha);
sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
+2 -2
View File
@@ -21,9 +21,9 @@
*/
/**
* @file subsystems/ahrs/ahrs_float_mlkf.h
* @file subsystems/ahrs/ahrs_float_mlkf_opt.h
*
* Mulitplicative linearized Kalman Filter in quaternion formulation.
* Multiplicative linearized Kalman Filter in quaternion formulation.
*
* Estimate the attitude, heading and gyro bias.
*/