Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 09:58:23 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[module] wind estimation from quadrotor motion (#2800)

Browse Source 
- add a generic linear kalman filter lib
- add a quad model with linear drag and simplified for recent jsbsim
- add example frame and noisy NPS sensor config

see "Estimating wind using a quadrotor" in IMAV2021 proceedings
This commit is contained in:
Gautier Hattenberger
2021-11-28 22:24:44 +01:00
committed by GitHub
parent fb0a7a0eb1
commit e075daf06f
14 changed files with 1412 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/wind_estimation_quadrotor.xml
+50
View File
@@ -0,0 +1,50 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="wind_estimation_quadrotor" dir="meteo">
<doc>
<description>
Wind estimation from quadrotor motion
Estimation using a linear Kalman filter
For details, see:
G. Hattenberger, M. Bronz, and J. Condomines, “Estimating wind using a quadrotor,”
in 12th international micro air vehicle conference, Puebla, México, 2021, p. 124–130.
</description>
<section name="WE_QUAD" prefix="WE_QUAD_">
<define name="MASS" value="required" description="mass of the airframe" unit="kg"/>
<define name="DRAG" value="required" description="linear drag coefficient modeling the relation between drag and bank angle"/>
<define name="P0_VA" value="1." description="initial covariance on airspeed estimate"/>
<define name="P0_W" value="1." description="initial covariance on wind estimate"/>
<define name="Q_VA" value="0.05" description="process noise on airspeed"/>
<define name="Q_W" value="0.001" description="process noise on wind estimate"/>
<define name="R" value="0.5" description="measurement noise on ground speed"/>
<define name="UPDATE_STATE" value="FALSE|TRUE" description="update directly wind estimation in state interface (default: TRUE)"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings name="Wind quad">
<dl_setting MIN="0.001" MAX="1" STEP="0.01" VAR="we_quad_params.Q_va" shortname="Q_va" module="meteo/wind_estimation_quadrotor" handler="SetQva"/>
<dl_setting MIN="0.001" MAX="0.1" STEP="0.001" VAR="we_quad_params.Q_w" shortname="Q_w" module="meteo/wind_estimation_quadrotor" handler="SetQw"/>
<dl_setting MIN="0.01" MAX="3" STEP="0.01" VAR="we_quad_params.R" shortname="R" module="meteo/wind_estimation_quadrotor" handler="SetR"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="wind_estimation_quadrotor.h"/>
</header>
<init fun="wind_estimation_quadrotor_init()"/>
<periodic fun="wind_estimation_quadrotor_periodic()" freq="10.0" start="wind_estimation_quadrotor_stop()" stop="wind_estimation_quadrotor_start()" autorun="FALSE"/>
<periodic fun="wind_estimation_quadrotor_report()" freq="10.0" autorun="FALSE"/>
<makefile>
<file name="wind_estimation_quadrotor.c"/>
<file name="linear_kalman_filter.c" dir="filters"/>
<test>
<define name="WE_QUAD_MASS" value="1."/>
<define name="WE_QUAD_DRAG" value="1."/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
<define name="WIND_ESTIMATION_QUADROTOR_PERIODIC_PERIOD" value="0.1"/>
</test>
</makefile>
</module>