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https://github.com/paparazzi/paparazzi.git
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77b0daffd4
* first push * Addressed the comments * address comments * Correct prefix and variable name * make radius circle limiting optional * first push * Addressed the comments * address comments * Correct prefix and variable name * make radius circle limiting optional * Added soft acceleration limit * Remove nav goto where not used. Added logic for minimum no-transition distance. Code clean-up. * Add possibility to force max goto speed if needed * Removed nav_goto_max_speed
53 lines
2.9 KiB
XML
53 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_hybrid" dir="nav" task="control">
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<doc>
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<description>
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Navigation patterns and flight plan handling for hybrid airframes
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</description>
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<section name="NAV_HYBRID" prefix="NAV_HYBRID_">
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<define name="MAX_DECELERATION" value="1.0" description="Maximum deceleration in [m/s2] when arriving to hover at a WP"/>
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<define name="MAX_EXPECTED_WIND" value="5" description="Maximum expected constant wind. Used to calculate minimum circle radius to not exceed acceleration bound."/>
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<define name="LIMIT_CIRCLE_RADIUS" value="FALSE" description="Limit the circle radius on max target groundspeed and max acceleration."/>
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<define name="EXT_VISION_SETPOINT_MODE" value="FALSE" description="Use position setpoints when using external vision systems."/>
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</section>
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<section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
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<define name="MAX_AIRSPEED" value="15." description="maximum airspeed (required)"/>
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<define name="NAV_SPEED_MARGIN" value="10." description="maximum commanded ground speed is MAX_AIRSPEED + NAV_SPEED_MARGIN"/>
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<define name="GOTO_SPEED" value="nav_max_speed" description="maximum speed when flying goto/stay routines (default is max speed)"/>
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<define name="NAV_LINE_DIST" value="50" description="distance coefficient for line routine"/>
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<define name="NAV_CIRCLE_DIST" value="40" description="distance coefficient for circle routine"/>
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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="nav_hybrid">
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<dl_setting var="nav_hybrid_max_acceleration" min="1.0" step="0.1" max="9.0"/>
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<dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0"/>
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<dl_setting var="nav_hybrid_max_expected_wind" min="0.0" step="0.1" max="20.0" shortname="max_expected_wind"/>
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<dl_setting var="nav_max_deceleration_sp" min="0.5" step="0.1" max="10.0" shortname="max_deceleration" param="NAV_HYBRID_MAX_DECELERATION"/>
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<dl_setting var="nav_hybrid_line_gain" min="0.1" step="0.1" max="3" shortname="nav_hybrid_line_gain" param="NAV_HYBRID_LINE_GAIN"/>
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<dl_setting var="nav_hybrid_pos_gain" min="0.1" step="0.1" max="10" shortname="nav_hybrid_pos_gain" param="NAV_HYBRID_POS_GAIN"/>
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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>nav_basic_rotorcraft</depends>
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</dep>
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<header>
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<file name="nav_rotorcraft_hybrid.h"/>
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</header>
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<init fun="nav_rotorcraft_hybrid_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="nav_rotorcraft_hybrid.c"/>
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<test firmware="rotorcraft">
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<configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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<define name="GUIDANCE_INDI_HYBRID_U" value="3"/>
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<define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
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</test>
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</makefile>
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</module>
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