Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 01:53:48 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Rotwing guidance bank fix (#3271)

Browse Source 
* max bank in deg

* Fix allocation switching problem

* [rot_wing_v3] Updated max bank in all airframes

* Update sw/airborne/modules/checks/preflight_checks.c

Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>

* use unit and alt_unit for conversions instead

* remove needless conversion

* Also fix normal INDI to fit the code

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
This commit is contained in:
Dennis-Wijngaarden
2024-05-23 21:55:24 +02:00
committed by GitHub
parent b87ab09536
commit d748af1afb
14 changed files with 70 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/tudelft/rot_wing_25kg.xml
+8 -5
View File
@@ -56,6 +56,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -178,13 +180,13 @@
<axis name="THRUST" failsafe_value="0"/>
<axis name="THRUST_X" failsafe_value="0"/>
</commands>
<command_laws>
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
<let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
<!-- Main bus -->
<set servo="MOTOR_FRONT" value="($hover_off? -9600 : actuators_pprz[0])"/>
@@ -253,7 +255,7 @@
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
<define name="K_LIFT_TAIL" value="-0.101691751"/>
@@ -369,7 +371,7 @@
<!-- Rate INDI -->
<define name="MAX_RATE" value="1.5"/>
<!-- Reference -->
<define name="REF_ERR_P" value="40.0"/>
<define name="REF_ERR_Q" value="25.0"/>
@@ -428,7 +430,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -455,6 +457,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3b.xml
+5 -2
View File
@@ -67,6 +67,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Kongsberg datalink -->
@@ -465,7 +467,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -479,7 +481,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -505,6 +507,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3d.xml
+5 -2
View File
@@ -54,6 +54,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -452,7 +454,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -466,7 +468,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -492,6 +494,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3e.xml
+5 -2
View File
@@ -54,6 +54,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -452,7 +454,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -466,7 +468,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -492,6 +494,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3f.xml
+5 -2
View File
@@ -54,6 +54,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -452,7 +454,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -466,7 +468,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -492,6 +494,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3g.xml
+5 -2
View File
@@ -54,6 +54,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -452,7 +454,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -466,7 +468,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -492,6 +494,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/airframes/tudelft/rot_wing_v3h.xml
+5 -2
View File
@@ -54,6 +54,8 @@
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
</target>
<!-- Herelink datalink -->
@@ -452,7 +454,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="50" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
@@ -466,7 +468,7 @@
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<define name="WLS_WU" value="{100., 300., 4., 30.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
@@ -492,6 +494,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
</section>
<section name="FORWARD">
conf/modules/guidance_indi.xml
+1 -1
View File
@@ -11,7 +11,7 @@
<dl_settings NAME="guidance_indi">
<dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK"/>
<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
conf/modules/guidance_indi_hybrid.xml
+1 -1
View File
@@ -25,7 +25,7 @@
<dl_setting var="gih_params.speed_gainz" min="0" step="0.1" max="10.0" shortname="kd_z" param="GUIDANCE_INDI_SPEED_GAINZ" persistent="true"/>
<dl_setting var="gih_params.heading_bank_gain" min="0" step="0.1" max="30.0" shortname="bank gain" param="GUIDANCE_INDI_HEADING_BANK_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_airspeed" min="12.0" step="1.0" max="30.0" shortname="cruise_airspeed" param="GUIDANCE_INDI_MAX_AIRSPEED"/>
<dl_setting var="guidance_indi_max_bank" min="10.0" step="1.0" max="50.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK"/>
<dl_setting var="guidance_indi_max_bank" min="10.0" step="1.0" max="50.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_indi_min_pitch" min="-130.0" step="1.0" max="-30.0" shortname="min_pitch" param="GUIDANCE_INDI_MIN_PITCH"/>
<dl_setting var="take_heading_control" min="0" step="1" max="1" values="OFF|ON" shortname="take_heading"/>
<dl_setting var="guidance_indi_airspeed_filtering" min="0" step="1" max="1" values="OFF|ON" shortname="as_filt"/>