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Single Tuning File for all IMU Fixedwings

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This commit is contained in:
Christophe De Wagter
2010-12-15 14:04:30 +01:00
parent fec814156d
commit cbd6a7e91f
9 changed files with 41 additions and 117 deletions
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conf/airframes/example_twog_analogimu.xml
+8 -4
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@@ -1,6 +1,10 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd"> <!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Reely Condor <!--
Use settings/tuning_ins.xml
Use telemetry/default_fixedwing_imu.xml
Reely Condor
TWOG v1.0 Board (http://paparazzi.enac.fr/wiki/TWOG) TWOG v1.0 Board (http://paparazzi.enac.fr/wiki/TWOG)
Sparkfun Razor IMU with Premerlani Code Sparkfun Razor IMU with Premerlani Code
wi.232 Radiomodems wi.232 Radiomodems
@@ -95,9 +99,9 @@
<!-- settings for the Analog IMU --> <!-- settings for the Analog IMU -->
<section name="IMU" prefix="IMU_"> <section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
</section> </section>
<!-- 3S LiPo with 1050mAh, connected to an 20A ESC --> <!-- 3S LiPo with 1050mAh, connected to an 20A ESC -->
conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
+4 -1
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@@ -1,7 +1,10 @@
# attitude estimation for fixedwings via dcm algorithm # attitude estimation for fixedwings via dcm algorithm
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DUSE_ANALOG_IMU ap.CFLAGS += -DUSE_ANALOG_IMU
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
@@ -21,7 +24,7 @@ sim.CFLAGS += -DUSE_INFRARED
sim.srcs += subsystems/sensors/infrared.c sim.srcs += subsystems/sensors/infrared.c
sim.srcs += $(SRC_ARCH)/sim_ir.c sim.srcs += $(SRC_ARCH)/sim_ir.c
sim.srcs += $(SRC_ARCH)/sim_analogimu.c sim.srcs += $(SRC_ARCH)/sim_imu.c
endif endif
conf/conf.xml.example
+10
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@@ -80,6 +80,16 @@
settings="settings/basic.xml" settings="settings/basic.xml"
gui_color="#6293ba" gui_color="#6293ba"
/> />
<aircraft
name="Tiny_IMU"
ac_id="7"
airframe="airframes/example_twog_analogimu.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/tuning_ins.xml"
gui_color="blue"
/>
<aircraft <aircraft
name="Twinjet" name="Twinjet"
conf/settings/tuning_analog_imu.xml
-100
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@@ -1,100 +0,0 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<!-- A conf to use to tune a new A/C -->
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
</dl_setting>
</dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="IMU">
<dl_setting MAX="45" MIN="-45" STEP="0.1" VAR="imu_roll_neutral" shortname="roll neutral" module="subsystems/ahrs/ahrs_float_dcm" param="IMU_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<dl_setting MAX="45" MIN="-45" STEP="0.1" VAR="imu_pitch_neutral" shortname="pitch neutral" module="subsystems/ahrs/ahrs_float_dcm" param="IMU_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
<dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
<dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
</dl_settings>
<dl_settings name="alt">
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
</dl_settings>
<dl_settings name="auto_throttle">
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
<strip_button name="Loiter" value="0.1"/>
<strip_button name="Cruise" value="0"/>
<strip_button name="Dash" value="1"/>
</dl_setting>
<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
<!-- commented by poine - does anybody use that ?at all ? -->
<!-- <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
<!-- <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
</dl_settings>
<dl_settings name="auto_pitch">
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
</dl_settings>
<dl_settings name="nav">
<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
<dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
conf/settings/tuning_ins.xml
+4 -3
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@@ -32,7 +32,7 @@
<dl_settings NAME="control"> <dl_settings NAME="control">
<dl_settings NAME="ins"> <dl_settings NAME="ins">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
</dl_settings> </dl_settings>
@@ -66,8 +66,9 @@
<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/> <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/> <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/> <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> <!-- commented by poine - does anybody use that ?at all ? -->
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> <!-- <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
<!-- <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/> <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
sw/airborne/arch/sim/sim_analogimu.c → sw/airborne/arch/sim/sim_imu.c
+2 -2
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@@ -11,5 +11,5 @@
#include <caml/mlvalues.h> #include <caml/mlvalues.h>
float imu_roll_neutral = RadOfDeg(IMU_ROLL_NEUTRAL_DEFAULT); float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
float imu_pitch_neutral = RadOfDeg(IMU_PITCH_NEUTRAL_DEFAULT); float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
sw/airborne/subsystems/ahrs.h
+6
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@@ -33,6 +33,12 @@
#define AHRS_UNINIT 0 #define AHRS_UNINIT 0
#define AHRS_RUNNING 1 #define AHRS_RUNNING 1
/* underlying includes (needed for parameters) */
#ifdef AHRS_TYPE_H
#include AHRS_TYPE_H
#endif
struct Ahrs { struct Ahrs {
struct Int32Quat ltp_to_imu_quat; struct Int32Quat ltp_to_imu_quat;
sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+4 -4
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@@ -40,8 +40,8 @@
struct AhrsFloatDCM ahrs_impl; struct AhrsFloatDCM ahrs_impl;
// remotely settable // remotely settable
float imu_roll_neutral = RadOfDeg(IMU_ROLL_NEUTRAL_DEFAULT); float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
float imu_pitch_neutral = RadOfDeg(IMU_PITCH_NEUTRAL_DEFAULT); float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
// Axis definition: X axis pointing forward, Y axis pointing to the right and Z axis pointing down. // Axis definition: X axis pointing forward, Y axis pointing to the right and Z axis pointing down.
// Positive pitch : nose up // Positive pitch : nose up
@@ -82,8 +82,8 @@ void ahrs_update_fw_estimator( void )
//compute_body_orientation_and_rates(); //compute_body_orientation_and_rates();
// export results to estimator // export results to estimator
estimator_phi = ahrs_float.ltp_to_imu_euler.phi - imu_roll_neutral; estimator_phi = ahrs_float.ltp_to_imu_euler.phi - ins_roll_neutral;
estimator_theta = ahrs_float.ltp_to_imu_euler.theta - imu_pitch_neutral; estimator_theta = ahrs_float.ltp_to_imu_euler.theta - ins_pitch_neutral;
estimator_psi = ahrs_float.ltp_to_imu_euler.psi; estimator_psi = ahrs_float.ltp_to_imu_euler.psi;
} }
sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
+2 -2
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@@ -37,8 +37,8 @@ struct AhrsFloatDCM {
}; };
extern struct AhrsFloatDCM ahrs_impl; extern struct AhrsFloatDCM ahrs_impl;
extern float imu_roll_neutral; extern float ins_roll_neutral;
extern float imu_pitch_neutral; extern float ins_pitch_neutral;
void ahrs_update_fw_estimator(void); void ahrs_update_fw_estimator(void);