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f835b95ab0
* [module] moving_target allow storing specific gains in airframe files and put all settings in the struct and remove unused * requested changes * [airframes] update setting defines
48 lines
2.7 KiB
XML
48 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="approach_moving_target" dir="ctrl">
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<doc>
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<description>
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Approach a moving target (e.g. ship) along a diagonal.
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</description>
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<section name="APPROACH_MOVING_TARGET" prefix="APPROACH_MOVING_TARGET_">
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<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.5" description="low pass filter on WP position"/>
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<define name="SLOPE" value="35.0" description="[degrees] the angle of the slope for the approach"/>
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<define name="DISTANCE" value="60.0" description="[m] the initial distance to start the approach"/>
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<define name="SPEED" value="-1.0" description="[m/s] the approach speed along the slope"/>
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<define name="ERR_SLOWDOWN_GAIN" value="0.25" description="slowing down when arriving"/>
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<define name="POS_GAIN" value="-1.0" description="P-gain"/>
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<define name="SPEED_GAIN" value="-1.0" description="D-gain"/>
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<define name="RELVEL_GAIN" value="-1.0" description="RelVel-gain"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Approach">
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<dl_setting var="amt.psi_ref" min="-180." max="180." step="1.0" shortname="psi_app" unit="degrees"/>
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<dl_setting var="amt.slope_ref" min="0." max="80." step="1.0" shortname="slope_app" unit="degrees" param="APPROACH_MOVING_TARGET_SLOPE"/>
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<dl_setting var="amt.speed" min="-5.0" max="5." step="0.1" shortname="speed" unit="m/s" param="APPROACH_MOVING_TARGET_SPEED" />
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<dl_setting var="amt.distance" min="0.0" max="200." step="1.0" shortname="dist" unit="m" param="APPROACH_MOVING_TARGET_DISTANCE"/>
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<dl_setting var="amt.err_slowdown_gain" min="0.0" max="4." step="0.01" shortname="slwdn_gain" param="APPROACH_MOVING_TARGET_ERR_SLOWDOWN_GAIN"/>
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<dl_setting var="amt.pos_gain" min="0.05" max="3.0" step="0.01" shortname="pos_gain" param="APPROACH_MOVING_TARGET_POS_GAIN"/>
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<dl_setting var="amt.speed_gain" min="0.0" max="1.0" step="0.01" shortname="speed_gain" param="APPROACH_MOVING_TARGET_SPEED_GAIN"/>
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<dl_setting var="amt.relvel_gain" min="0.0" max="1.0" step="0.01" shortname="relvel_gain" param="APPROACH_MOVING_TARGET_RELVEL_GAIN"/>
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<dl_setting var="amt.cutoff_freq_filters_hz" min="0.3" max="2.0" step="0.01" shortname="filter_freq" module="ctrl/approach_moving_target" handler="set_low_pass_freq" param="APPROACH_MOVING_TARGET_CUTOFF_FREQ_FILTERS_HZ"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>target_pos</depends>
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</dep>
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<header>
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<file name="approach_moving_target.h"/>
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</header>
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<init fun="approach_moving_target_init()"/>
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<periodic fun="follow_diagonal_approach()" freq="100.0"/>
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<makefile>
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<file name="approach_moving_target.c"/>
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</makefile>
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</module>
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