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[navigaiton] Rotorcraft navigtation parameters belong in the airframe file and should be tunable: Closes #1315

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This commit is contained in:
Christophe De Wagter
2015-09-02 09:06:52 +02:00
parent c51f4d98d3
commit e827cf2e3b
14 changed files with 43 additions and 14 deletions
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conf/airframes/BR/ladybird_kit_bart.xml
+5
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@@ -206,6 +206,11 @@
<define name="IGAIN" value="24"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" />
<define name="DESCEND_VSPEED" value="-0.5" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
+5
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@@ -213,6 +213,11 @@
<define name="IGAIN" value="20"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_hexa&quot;"/>
conf/airframes/examples/bebop.xml
+5
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@@ -196,6 +196,11 @@
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
conf/flight_plans/rotorcraft_basic.xml
+2 -2
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@@ -36,7 +36,7 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay vmode="climb" climb="0.5" wp="CLIMB"/>
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
@@ -81,7 +81,7 @@
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
conf/flight_plans/rotorcraft_basic_superbitrf.xml
+1 -1
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@@ -104,7 +104,7 @@
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_decend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
+2 -2
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@@ -82,7 +82,7 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
<!-- To make sure that takoff is straight up -->
<attitude pitch="0" roll="0" throttle="0.90" until="stage_time > 1" vmode="throttle"/>
<!--Alternative <exception cond="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" deroute="A_to_B_and_back"/>-->
<stay vmode="climb" climb="0.9" until="WaypointAlt(WP_STDBY) > stateGetPositionEnu_f()->z" wp="CLIMB"/>
<stay vmode="climb" climb="nav_climb_vspeed" until="WaypointAlt(WP_STDBY) > stateGetPositionEnu_f()->z" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle()">
<exception cond="block_time > 60" deroute="land"/>
@@ -118,7 +118,7 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
<go wp="TD"/>
<exception cond="NavDetectGround()" deroute="landed"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="landed"/>
conf/flight_plans/rotorcraft_cam.xml
+2 -2
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@@ -35,7 +35,7 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="0.5" vmode="climb" wp="CLIMB"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
@@ -81,7 +81,7 @@
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
conf/flight_plans/rotorcraft_krooz.xml
+2 -2
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@@ -46,7 +46,7 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<!--<call fun="NavStopDetectGround()"/>-->
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<stay vmode="climb" climb="1.0" wp="CLIMB"/>
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
</block>
<block name="Come Home">
<call fun="NavSetWpCurAlt(WP_STDBY)"/>
@@ -94,7 +94,7 @@
<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on" deroute="Land here"/>
<exception cond="NavDetectGround()" deroute="Holding point"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/rotorcraft_optitrack.xml
+2 -2
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@@ -50,7 +50,7 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="0.5" vmode="climb" wp="CLIMB"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
@@ -85,7 +85,7 @@
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<call fun="NavKillThrottle()"/>
conf/flight_plans/rotorcraft_survey.xml
+2 -2
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@@ -40,7 +40,7 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay vmode="climb" climb="0.5" wp="CLIMB"/>
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
@@ -95,7 +95,7 @@
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
conf/flight_plans/rotorcraft_vision.xml
+1 -1
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@@ -27,7 +27,7 @@
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="HOME"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="HOME"/>
</block>
</blocks>
</flight_plan>
conf/settings/control/rotorcraft_guidance.xml
+2
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@@ -32,6 +32,8 @@
<dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
<dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
<dl_setting var="nav_radius" MIN="-50" STEP="0.1" MAX="50" module="navigation" unit="m"/>
<dl_setting var="nav_climb_vspeed" MIN="0" STEP="0.1" MAX="10.0" module="navigation" unit="m/s" param="NAV_CLIMB_VSPEED"/>
<dl_setting var="nav_descend_vspeed" MIN="-10.0" STEP="0.1" MAX="0.0" module="navigation" unit="m/s" param="NAV_DESCEND_VSPEED"/>
</dl_settings>
</dl_settings>
sw/airborne/firmwares/rotorcraft/navigation.c
+11
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@@ -81,12 +81,21 @@ bool_t nav_survey_active;
int32_t nav_roll, nav_pitch;
int32_t nav_heading;
float nav_radius;
float nav_climb_vspeed, nav_descend_vspeed;
/** default nav_circle_radius in meters */
#ifndef DEFAULT_CIRCLE_RADIUS
#define DEFAULT_CIRCLE_RADIUS 5.
#endif
#ifndef NAV_CLIMB_VSPEED
#define NAV_CLIMB_VSPEED 0.5
#endif
#ifndef NAV_DESCEND_VSPEED
#define NAV_DESCEND_VSPEED -0.8
#endif
uint8_t vertical_mode;
uint32_t nav_throttle;
int32_t nav_climb, nav_altitude, nav_flight_altitude;
@@ -160,6 +169,8 @@ void nav_init(void)
nav_pitch = 0;
nav_heading = 0;
nav_radius = DEFAULT_CIRCLE_RADIUS;
nav_climb_vspeed = NAV_CLIMB_VSPEED;
nav_descend_vspeed = NAV_DESCEND_VSPEED;
nav_throttle = 0;
nav_climb = 0;
nav_leg_progress = 0;
sw/airborne/firmwares/rotorcraft/navigation.h
+1
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@@ -55,6 +55,7 @@ extern int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians;
extern int32_t nav_roll, nav_pitch; ///< with #INT32_ANGLE_FRAC
extern int32_t nav_heading; ///< with #INT32_ANGLE_FRAC
extern float nav_radius;
extern float nav_climb_vspeed, nav_descend_vspeed;
extern int32_t nav_leg_progress;
extern uint32_t nav_leg_length;