mirror of
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)
103 lines
6.5 KiB
XML
103 lines
6.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="optical_flow_hover" dir="ctrl">
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<doc>
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<description>
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This module implements monocular vision height estimation and uses this
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estimate to stabilize a quadrotor using only a downwards
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facing camera and an IMU. For scientific background please visit:
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https://repository.tudelft.nl/islandora/object/uuid%3A6e3ce742-a974-491d-97c2-1cafc090b3d9
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The gain height relationship as first described in
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http://iopscience.iop.org/article/10.1088/1748-3190/11/1/016004 is
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calibrated
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in a controlled environment so that the resulting relationship can be
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used to determine the height at which the quadrotor is flying.
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In addition to the vertical axis the same principle is applied to the
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horizontal axes.
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A short guide on how to determine the slope:
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Picking a relatively high OFH_RAMP* with a very high negative
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OFH_COV*_SETPOINT (i.e. -6000000),
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looking at when the quadrotor starts oscillating, the respective message
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(covariances.*) should be used to determine a suitable
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threshold value for OFH_COV*_SETPOINT. The slope can then be decreased to gain
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accuracy in reaching the oscillations.
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Finally when flying the quadrotor on different heights the gain at which
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instability occurs can be noted to determine the slope of the
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gain-height relationship.
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Important settings:
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-OFH_HOVER_METHOD/hover_method:
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0, the method is applied to all 3 axes in the following order: Z - X - Y
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1, the method is applied to all 3 axes at the same time
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2, the method is applied to the Z axis and the estimated height is used
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to determine the proper gains
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for the horizontal axes using the predetermined relationship.
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-XY_SYMMETRICAL is set to 1 if the drone is roughly symmetrical,
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causing the found gains for the X axis is also used for the Y axis.
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-OFH_*GAIN* can be used to set starting gains to prevent initial drift
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while still estimating height and appropriate gains.
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-OFH_REDUCTION* is used to reduce the gain after determining the oscillation to
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stabilize the quadrotor.
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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="OpticalFlowHover">
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<dl_settings name="General">
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<dl_setting var="cov_method" min="0" step="1" max="1" values="input|past" module="ctrl/optical_flow_hover" shortname="COV_METHOD" param="OFH_COV_METHOD"/>
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<dl_setting var="hover_method" min="0" step="1" max="2" values="Sub|Same|Smart" module="ctrl/optical_flow_hover" shortname="HOVER_METHOD" param="OFH_HOVER_METHOD"/>
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</dl_settings>
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<dl_settings name="Vertical">
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<dl_setting var="of_hover_ctrl_Z.cov_setpoint" min="-5.05" step="0.00001" max="0" module="ctrl/optical_flow_hover" shortname="covDiv_set_point" param="OFH_COVDIV_SETPOINT"/>
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<dl_setting var="of_hover_ctrl_Z.ramp" min="0" step="0.005" max="1" module="ctrl/optical_flow_hover" shortname="rampZ" param="OFH_RAMPZ"/>
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<dl_setting var="of_hover_ctrl_Z.reduction_factor" min="0.1" step="0.01" max="1" module="ctrl/optical_flow_hover" shortname="reduction_factorZ" param="OFH_REDUCTIONZ"/>
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<dl_setting var="of_hover_ctrl_Z.PID.P" min="0" step="0.01" max="1" module="ctrl/optical_flow_hover" shortname="pgainZ"/>
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<dl_setting var="of_hover_ctrl_Z.PID.I" min="0" step="0.001" max="0.1" module="ctrl/optical_flow_hover" shortname="igainZ" param="OFH_IGAINZ"/>
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<dl_setting var="of_hover_ctrl_Z.PID.D" min="0" step="0.01" max="1" module="ctrl/optical_flow_hover" shortname="dgainZ" param="OFH_DGAINZ"/>
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</dl_settings>
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<dl_settings name="Horizontal">
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<dl_setting var="of_hover_ctrl_X.cov_setpoint" min="-100000" step="100" max="10000" module="ctrl/optical_flow_hover" shortname="covFlow_set_pointX" param="OFH_COVDIV_SETPOINT"/>
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<dl_setting var="of_hover_ctrl_Y.cov_setpoint" min="-100000" step="100" max="10000" module="ctrl/optical_flow_hover" shortname="covFlow_set_pointY" param="OFH_COVDIV_SETPOINT"/>
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<dl_setting var="of_hover_ctrl_X.ramp" min="0" step="0.0001" max="0.05" module="ctrl/optical_flow_hover" shortname="rampX" param="OFH_RAMPXY"/>
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<dl_setting var="of_hover_ctrl_Y.ramp" min="0" step="0.0001" max="0.05" module="ctrl/optical_flow_hover" shortname="rampY" param="OFH_RAMPXY"/>
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<dl_setting var="of_hover_ctrl_X.reduction_factor" min="0.1" step="0.01" max="1" module="ctrl/optical_flow_hover" shortname="reduction_factorX" param="OFH_REDUCTIONXY"/>
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<dl_setting var="of_hover_ctrl_Y.reduction_factor" min="0.1" step="0.01" max="1" module="ctrl/optical_flow_hover" shortname="reduction_factorY" param="OFH_REDUCTIONXY"/>
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<dl_setting var="of_hover_ctrl_X.PID.P" min="0" step="0.00001" max="0.01" module="ctrl/optical_flow_hover" shortname="pgainX"/>
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<dl_setting var="of_hover_ctrl_X.PID.I" min="0" step="0.00001" max="0.001" module="ctrl/optical_flow_hover" shortname="IgainX" param="OFH_IGAINX"/>
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<dl_setting var="of_hover_ctrl_X.PID.D" min="0" step="0.00001" max="0.001" module="ctrl/optical_flow_hover" shortname="DgainX" param="OFH_DGAINX"/>
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<dl_setting var="of_hover_ctrl_Y.PID.P" min="0" step="0.00001" max="0.01" module="ctrl/optical_flow_hover" shortname="pgainY"/>
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<dl_setting var="of_hover_ctrl_Y.PID.I" min="0" step="0.00001" max="0.001" module="ctrl/optical_flow_hover" shortname="IgainY" param="OFH_IGAINY"/>
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<dl_setting var="of_hover_ctrl_Y.PID.D" min="0" step="0.00001" max="0.001" module="ctrl/optical_flow_hover" shortname="DgainY" param="OFH_DGAINY"/>
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<dl_setting var="oscphi" min="0" step="1" max="1" values="No|OSC" module="ctrl/optical_flow_hover" shortname="oscphi" />
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<dl_setting var="osctheta" min="0" step="1" max="1" values="No|OSC" module="ctrl/optical_flow_hover" shortname="osctheta" />
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<dl_setting var="derotated" min="0" step="1" max="1" values="Reg|Der" module="ctrl/optical_flow_hover" shortname="derotated" />
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</dl_settings>
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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="optical_flow_hover.h" />
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<file name="optical_flow_functions.h" />
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</header>
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<init fun="optical_flow_hover_init()" />
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<makefile target="ap">
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<file name="optical_flow_hover.c" />
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<file name="optical_flow_functions.c" />
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<test firmware="rotorcraft">
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<define name="COV_WINDOW_SIZE" value="300"/>
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<define name="GUIDANCE_H_MAX_BANK" value="0.5"/>
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<define name="GUIDANCE_H_PGAIN" value="1"/>
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<define name="GUIDANCE_H_IGAIN" value="1"/>
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<define name="GUIDANCE_H_DGAIN" value="1"/>
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</test>
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</makefile>
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</module>
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