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https://github.com/paparazzi/paparazzi.git
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44 lines
1.8 KiB
XML
44 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="shift_tracking" dir="ctrl">
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<doc>
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<description>
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Pilot nav shift variable to track an offset in navigation
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Typical use is to Control a fixed-wing to use both GPS and
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local position (from Decawave modules for instance) to land it
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with precision or in a net.
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Data are coming from POSITION_ESTIMATE ABI message.
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See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on UAV landing in a net.
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</description>
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<section name="SHIFT_TRACKING" prefix="SHIFT_TRACKING_">
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<define name="ID" value="ABI_BROADCAST" description="ABI binding ID"/>
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<define name="DIR" value="1.0, 0., 0." type="float[]" description="direction to track expressed in the local pos frame"/>
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<define name="KP" value="1.5" description="proportional gain"/>
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<define name="KI" value="0.5" description="integral gain"/>
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<define name="KD" value="1.0" description="derivative gain"/>
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<define name="MAXSHIFT" value="30." description="maximum offset control"/>
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<define name="MAXSUM" value="30." description="maximum integral part"/>
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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="shift tracking">
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<dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.kp" module="modules/ctrl/shift_tracking" handler="SetKp"/>
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<dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.ki" module="modules/ctrl/shift_tracking" handler="SetKi"/>
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<dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.kd" module="modules/ctrl/shift_tracking" handler="SetKd"/>
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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="shift_tracking.h"/>
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</header>
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<init fun="shift_tracking_init()"/>
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<makefile>
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<file name="shift_tracking.c"/>
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</makefile>
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</module>
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