mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-05 18:51:00 +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)
57 lines
2.8 KiB
XML
57 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ctrl_windtunnel" dir="ctrl">
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<doc>
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<description>
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Windtunnel controller for performing step inputs on flaps and throttle.
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</description>
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<section name="WINDTUNNEL" prefix="CTRL_WINDTUNNEL_">
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<define name="STEPTIME" value="8.0" description="Time [seconds]"/>
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<define name="THR_MIN" value="0" description="Minimum throttle in the sequence of steps [MAX_PPRZ]"/>
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<define name="THR_MAX" value="0" description="Maximum throttle in the sequence of steps"/>
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<define name="THR_STEP" value="1200" description="Throttle steps"/>
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<define name="FLAP_MIN" value="-7200" description="Minimum flap in the sequence of steps"/>
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<define name="FLAP_MAX" value="0" description="Maximum flap in the sequence of steps"/>
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<define name="FLAP_STEP" value="2400" description="Flaps steps"/>
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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="WindtunnelCtrl">
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<dl_setting var="ctrl_windtunnel_steptime" min="0.1" step="0.1" max="120" module="ctrl/ctrl_windtunnel" shortname="steptime" param="CTRL_WINDTUNNEL_STEPTIME"/>
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<dl_setting var="ctrl_windtunnel_throttle.min" min="0" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="thr_min" param="CTRL_WINDTUNNEL_THR_MIN"/>
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<dl_setting var="ctrl_windtunnel_throttle.max" min="0" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="thr_max" param="CTRL_WINDTUNNEL_THR_MAX"/>
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<dl_setting var="ctrl_windtunnel_throttle.step" min="0" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="thr_step" param="CTRL_WINDTUNNEL_THR_STEP"/>
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<dl_setting var="ctrl_windtunnel_flaps.min" min="-9600" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="flaps_min" param="CTRL_WINDTUNNEL_FLAP_MIN"/>
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<dl_setting var="ctrl_windtunnel_flaps.max" min="-9600" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="flaps_max" param="CTRL_WINDTUNNEL_FLAP_MAX"/>
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<dl_setting var="ctrl_windtunnel_flaps.step" min="0" step="100" max="9600" module="ctrl/ctrl_windtunnel" shortname="flaps_step" param="CTRL_WINDTUNNEL_FLAP_STEP"/>
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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_windtunnel.h"/>
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</header>
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<init fun="ctrl_windtunnel_init()"/>
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<makefile>
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<file name="ctrl_windtunnel.c"/>
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<test>
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<define name="CTRL_WINDTUNNEL_STEPTIME" value="8.0"/>
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<define name="CTRL_WINDTUNNEL_THR_MIN" value="0"/>
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<define name="CTRL_WINDTUNNEL_THR_MAX" value="9600"/>
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<define name="CTRL_WINDTUNNEL_THR_STEP" value="1200"/>
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<define name="CTRL_WINDTUNNEL_FLAP_MIN" value="0"/>
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<define name="CTRL_WINDTUNNEL_FLAP_MAX" value="9600"/>
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<define name="CTRL_WINDTUNNEL_FLAP_STEP" value="2400"/>
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</test>
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</makefile>
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</module>
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