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https://github.com/paparazzi/paparazzi.git
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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)
69 lines
4.9 KiB
XML
69 lines
4.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="obstacle_avoidance" dir="obstacle_avoidance">
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<doc>
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<description>Obstacle avoidance module</description>
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</doc>
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<settings>
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<dl_settings NAME="OA_variables">
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<dl_settings NAME="vision_stab">
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<dl_setting var="opticflow_stab.phi_pgain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="10000" shortname="kp_v_phi" param="VISION_PHI_PGAIN"/>
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<dl_setting var="opticflow_stab.phi_igain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="ki_v_phi" param="VISION_PHI_IGAIN"/>
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<dl_setting var="opticflow_stab.theta_pgain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="10000" shortname="kp_v_theta" param="VISION_THETA_PGAIN"/>
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<dl_setting var="opticflow_stab.theta_igain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="ki_v_theta" param="VISION_THETA_IGAIN"/>
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<dl_setting var="opticflow_stab.desired_vx" module="obstacle_avoidance/guidance_OA" min="-5" step="0.01" max="5" shortname="desired_vx" param="VISION_DESIRED_VX"/>
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<dl_setting var="opticflow_stab.desired_vy" module="obstacle_avoidance/guidance_OA" min="-5" step="0.01" max="5" shortname="desired_vy" param="VISION_DESIRED_VY"/>
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</dl_settings>
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<dl_settings NAME="OA_general">
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<dl_setting var="OA_method_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="6" shortname="OA_method" param="OA_method"/>
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<dl_setting var="repulsionforce_filter_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1" shortname="Obst_force_filter" param="Obst_force_filter"/>
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<dl_setting var="opti_speed_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1" shortname="opti_speed_flag" param="opti_speed_flag"/>
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<dl_setting var="vref_max" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="vref_max" param="vref_max"/>
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</dl_settings>
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<dl_settings name="Vector_method">
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<dl_setting var="F1" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="F1" param="F1"/>
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<dl_setting var="F2" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="F2" param="F2"/>
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<dl_setting var="Cfreq" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="Cfreq" param="Cfreq"/>
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<dl_setting var="Ko" module="obstacle_avoidance/obstacle_avoidance" min="0" step="10" max="50000" shortname="Ko" param="Ko"/>
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<dl_setting var="Kg" module="obstacle_avoidance/obstacle_avoidance" min="0" step="1" max="250" shortname="Kg" param="Kg"/>
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<dl_setting var="Dist_offset" module="obstacle_avoidance/obstacle_avoidance" min="-1" step="0.01" max="1" shortname="Dist_offset" param="Dist_offset"/>
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<dl_setting var="dis_treshold" module="obstacle_avoidance/obstacle_avoidance" min="0" step="1" max="15" shortname="dis_treshold" param="dis_treshold"/>
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<dl_setting var="dx_ref" module="obstacle_avoidance/obstacle_avoidance" min="-10" step="1" max="10" shortname="dx_ref" param="dx_ref"/>
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<dl_setting var="dy_ref" module="obstacle_avoidance/obstacle_avoidance" min="-10" step="1" max="10" shortname="dy_ref" param="dy_ref"/>
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</dl_settings>
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<dl_settings name="Pot_method">
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<dl_setting var="K_obst" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="10000" shortname="K_obst" param="K_obst"/>
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<dl_setting var="K_goal" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="1000" shortname="K_goal" param="K_goal"/>
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<dl_setting var="b_damp" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="1000" shortname="b_damp" param="b_damp"/>
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<dl_setting var="c1_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c1" param="c1"/>
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<dl_setting var="c2_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c2" param="c2"/>
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<dl_setting var="c3_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c3" param="c3"/>
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<dl_setting var="c4_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c4" param="c4"/>
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<dl_setting var="kv" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="kv" param="kv"/>
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<dl_setting var="epsilon" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.01" max="1" shortname="epsilon" param="epsilon"/>
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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="obstacle_avoidance.h"/>
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<file name="guidance_OA.h"/>
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</header>
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<init fun="serial_init()"/>
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<periodic fun="serial_update()" start="serial_start()" stop="serial_stop()" freq="512"/>
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<makefile>
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<file name="obstacle_avoidance.c"/>
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<file name="guidance_OA.c"/>
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</makefile>
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</module>
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