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https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 11:28:58 +08:00
Gautier Hattenberger
37a86bb389
This PR allows to redefine the outer-loop for stabilization and guidance, and to specify the guidance model for something else than a quarotor (but still not an hybrid). Two use case are proposed: - replace the PD control of the outer-loop (still used by default) by and Hinfinity controller - parametrize the guidance for an hexa-copter with tilted motors, allowing to produce side force for lateral motion control.
94 lines
2.6 KiB
C
94 lines
2.6 KiB
C
#ifndef AIRFRAME_H
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#define AIRFRAME_H
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#define AIRFRAME_NAME "DUMMY"
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#define AC_ID 42
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// basic plane
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#define COMMAND_THROTTLE 0
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#define COMMAND_ROLL 1
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#define COMMAND_PITCH 2
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#define COMMANDS_NB 3
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#define COMMANDS_FAILSAFE {0,0,0}
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// basic rotorcraft
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//#define COMMAND_PITCH 0
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//#define COMMAND_ROLL 1
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#define COMMAND_YAW 2
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#define COMMAND_THRUST 3
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// extra commands
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#define COMMAND_FLAPS 4
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#define SetCommandsFromRC(_commands_array, _rc_array) { }
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#define AllActuatorsInit() { }
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#define AllActuatorsCommit() { }
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#define SetActuatorsFromCommands(values, AP_MODE) { }
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#define KILL_MODE_DISTANCE (1.5*MAX_DIST_FROM_HOME)
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#define DEFAULT_CIRCLE_RADIUS 80.
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#define NOMINAL_AIRSPEED 12.
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#define CARROT 5.
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#define V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE 0.4
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#define SECTION_FAILSAFE 1
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#define FAILSAFE_DELAY_WITHOUT_GPS 2
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#define FAILSAFE_DEFAULT_THROTTLE 0.3
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#define FAILSAFE_DEFAULT_ROLL 0.3
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#define FAILSAFE_DEFAULT_PITCH 0.
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#define FAILSAFE_HOME_RADIUS 100
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#define SECTION_IMU 1
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#define IMU_BODY_TO_IMU_PHI 0.
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#define IMU_BODY_TO_IMU_THETA 0.
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#define IMU_BODY_TO_IMU_PSI 0
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#define SECTION_INS 1
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#define INS_H_X 0.3892503
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#define INS_H_Y 0.0017972
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#define INS_H_Z 0.9211303
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#define INS_USE_GPS_ALT 1
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#define INS_SONAR_MIN_RANGE 0.0
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#define INS_SONAR_MAX_RANGE 3.5
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#define INS_SONAR_UPDATE_ON_AGL TRUE
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#define INS_ROLL_NEUTRAL_DEFAULT 0.
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#define INS_PITCH_NEUTRAL_DEFAULT 0.
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#define SECTION_STABILIZATION_ATTITUDE 1
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#define STABILIZATION_ATTITUDE_SP_MAX_PHI 0.7853981625
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#define STABILIZATION_ATTITUDE_SP_MAX_THETA 0.7853981625
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#define STABILIZATION_ATTITUDE_SP_MAX_R 1.04719755
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#define STABILIZATION_ATTITUDE_DEADBAND_R 250
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#define SECTION_STABILIZATION_ATTITUDE_INDI_HINF 1
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#define STABILIZATION_INDI_HINF_Ap 1.
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#define STABILIZATION_INDI_HINF_Bp 0.03518
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#define STABILIZATION_INDI_HINF_Cp 0.0191
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#define STABILIZATION_INDI_HINF_Dp 7.643
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#define STABILIZATION_INDI_HINF_Ad 0.9013
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#define STABILIZATION_INDI_HINF_Bd -0.02509
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#define STABILIZATION_INDI_HINF_Cd 91.15
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#define STABILIZATION_INDI_HINF_Dd 44.57
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#define SECTION_GUIDANCE_INDI_HINF 1
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#define GUIDANCE_INDI_HINF_Ap 0.9985
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#define GUIDANCE_INDI_HINF_Bp 0.04362
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#define GUIDANCE_INDI_HINF_Cp 0.009739
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#define GUIDANCE_INDI_HINF_Dp 0.5602
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#define GUIDANCE_INDI_HINF_Ad 1
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#define GUIDANCE_INDI_HINF_Bd -0.01418
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#define GUIDANCE_INDI_HINF_Cd -0.2814
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#define GUIDANCE_INDI_HINF_Dd 2.397
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#define GUIDANCE_INDI_HINF_Apz 0.9987
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#define GUIDANCE_INDI_HINF_Bpz -0.0003935
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#define GUIDANCE_INDI_HINF_Cpz -1.052
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#define GUIDANCE_INDI_HINF_Dpz 1.084
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#define GUIDANCE_INDI_HINF_Adz 1
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#define GUIDANCE_INDI_HINF_Bdz 0.003449
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#define GUIDANCE_INDI_HINF_Cdz 1.548
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#define GUIDANCE_INDI_HINF_Ddz 3.357
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#endif // AIRFRAME_H
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