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)
50 lines
2.8 KiB
XML
50 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="guidance_rotorcraft" dir="guidance" task="control">
|
|
<doc>
|
|
<description>
|
|
Base guidance code for rotorcraft
|
|
It provides:
|
|
- horizontal guidance with reference
|
|
- vertical guidance with reference and adaptive control
|
|
</description>
|
|
</doc>
|
|
<settings target="ap|nps">
|
|
<dl_settings>
|
|
<dl_settings NAME="Vert Loop">
|
|
<dl_setting var="guidance_v.nominal_throttle" min="0.2" step="0.01" max="0.8" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" persistent="true"/>
|
|
<dl_setting var="guidance_v.z_sp" min="-5" step="0.5" max="3" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
|
|
</dl_settings>
|
|
<dl_settings NAME="Horiz ref">
|
|
<dl_setting var="guidance_h.use_ref" min="0" step="1" max="1" shortname="use_ref" values="FALSE|TRUE" handler="SetUseRef" param="GUIDANCE_H_USE_REF" persistent="true" module="guidance/guidance_h"/>
|
|
<dl_setting var="gh_ref.max_speed" min="0.1" step="0.1" max="15.0" shortname="max_speed" handler="SetMaxSpeed" param="GUIDANCE_H_REF_MAX_SPEED" type="float" persistent="true" module="guidance/guidance_h"/>
|
|
<dl_setting var="gh_ref.tau" min="0.1" step="0.1" max="1.0" shortname="tau" handler="SetTau" param="GUIDANCE_H_REF_TAU" type="float" persistent="true" module="guidance/guidance_h"/>
|
|
<dl_setting var="gh_ref.omega" min="0.1" step="0.1" max="3.0" shortname="omega" handler="SetOmega" param="GUIDANCE_H_REF_OMEGA" type="float" persistent="true" module="guidance/guidance_h"/>
|
|
<dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA" type="float" persistent="true" module="guidance/guidance_h"/>
|
|
<dl_setting var="guidance_h.sp.pos.x" MIN="-10" MAX="10" STEP="1" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
|
|
<dl_setting var="guidance_h.sp.pos.y" MIN="-10" MAX="10" STEP="1" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
<dep>
|
|
<depends>@navigation,@stabilization</depends>
|
|
<provides>guidance,attitude_command</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="guidance_h.h"/>
|
|
<file name="guidance_v.h"/>
|
|
</header>
|
|
<init fun="guidance_h_init()"/>
|
|
<init fun="guidance_v_init()"/>
|
|
<makefile target="ap|nps" firmware="rotorcraft">
|
|
<file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
<file name="guidance_h_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
<file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
<file name="guidance_v_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
<file name="guidance_v_adapt.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
|
<test firmware="rotorcraft">
|
|
<define name="PERIODIC_FREQUENCY" value="500"/>
|
|
</test>
|
|
</makefile>
|
|
</module>
|