mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-05 10:41:00 +08:00
ce7fe4c23f
Introducing several changes to the control stask for the stabilization: - new structures: stabilization, stab (att and/or rates) and thrust (vector) - more functional approach: stabilization receives the stab and thrust setpoints from guidance and fill command vector at the end - modes and sub-modes are redefined (split stab and guidance modes), some AP modes are removed (FLIP and MODULE) - RC read functions are removed and replaced by ABI bindings, one for each part (AP, stab, guidance_h, guidance_v) with dedicated functions - transition ratio (float in [0-1]) replace transition_percentage (int) - the AP_MODULE mode is replaced by generated autopilot - the ABI hack for guidance indi is not needed anymore - AP generator supports a new 'store' attribute to use return values of functions - cleaning of the stabilization API (for setter functions)
34 lines
1.2 KiB
XML
34 lines
1.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ctrl_module_innerloop_demo" dir="ctrl">
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<doc>
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<description>
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Demo Control Module.
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Only for rotorcraft firmware.
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Simple rate controler as example on how to integrate write and call your own controller in a module.
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</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="CtrlModDemo">
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<dl_setting var="ctrl_module_demo_pr_ff_gain" min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="pr_ff"/>
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<dl_setting var="ctrl_module_demo_pr_d_gain" min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="pr_d"/>
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<dl_setting var="ctrl_module_demo_y_ff_gain" min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="y_ff"/>
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<dl_setting var="ctrl_module_demo_y_d_gain" min="0" step="0.01" max="1" module="ctrl/ctrl_module_innerloop_demo" shortname="y_d"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="ctrl_module_innerloop_demo.h"/>
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</header>
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<init fun="ctrl_module_init()"/>
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<makefile>
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<file name="ctrl_module_innerloop_demo.c"/>
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<test/>
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</makefile>
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</module>
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