mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-06 02:52:42 +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)
53 lines
2.9 KiB
XML
53 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="opticflow_hover" dir="guidance_opticflow">
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<doc>
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<description>
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Hovers the drone based on optical flow made for Linux video Devices.
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Computes Pitch- and roll attitude from downward looking camera looking at a textured floor.
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- Sonar is required.
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- Another module sending the VELOCITY_ESTIMATE ABI message (usually computed from optic flow) is required.
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- Controller can hold position
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</description>
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<!-- Satbilization parameters and gains -->
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<section name="VISION" prefix="VISION_">
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<define name="PHI_PGAIN" value="400" description="Optic flow proportional gain on the roll velocity error"/>
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<define name="PHI_IGAIN" value="20" description="Optic flow integrated gain on the summed roll velocity error"/>
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<define name="THETA_PGAIN" value="400" description="Optic flow proportional gain on the pitch velocity error"/>
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<define name="THETA_IGAIN" value="20" description="Optic flow integrated gain on the summed pitch velocity error"/>
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<define name="DESIRED_VX" value="0" description="The desired velocity in the body frame x direction"/>
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<define name="DESIRED_VY" value="0" description="The desired velocity in the body frame y direction"/>
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</section>
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</doc>
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<settings>
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<dl_settings NAME="Vision stabilization">
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<!-- Satabilization loop parameters and gains -->
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<dl_settings name="vision_stab">
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<dl_setting var="opticflow_stab.phi_pgain" module="guidance_opticflow/guidance_opticflow_hover" 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="guidance_opticflow/guidance_opticflow_hover" 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="guidance_opticflow/guidance_opticflow_hover" 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="guidance_opticflow/guidance_opticflow_hover" 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="guidance_opticflow/guidance_opticflow_hover" 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="guidance_opticflow/guidance_opticflow_hover" 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>
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</settings>
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<dep>
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<depends>cv_opticflow|px4flow</depends>
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</dep>
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<header>
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<file name="guidance_opticflow_hover.h"/>
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</header>
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<init fun="guidance_opticflow_hover_init()"/>
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<makefile>
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<file name="guidance_opticflow_hover.c"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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