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* [modules] system identification updates: auto-doublet-sequence, new doublets, RC-triggered chirps, testing extra sysid rename generic test compile * defines in a section instead of gcc, cleanup docs
71 lines
5.2 KiB
XML
71 lines
5.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="sys_id_chirp" dir="system_identification">
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<doc>
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<description>Chirp maneuver for system identification.
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The chirp is a sine wave with frequency increasing constantly in time. It's a good candidate as input for system identification
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since it covers a broad frequency spectrum. This module automates performance of the chirp and exposes an easy interface
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for tailoring the maneuver to your specific aircraft.
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The module is used by including the module in the airframe file and adding the following line to the <command_laws> section:
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<call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,values)"/>
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You can pick the axes to apply chirps to by setting the CHIRP_AXES variable with the COMMAND_XXX variables where XXX are the actuators defined in
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the <commands> section of your airframe.
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Remeber to deactivate the control input when the system identification input is running using (can be checked using the sys_id_wave_running() function)
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Then, the GCS exposes the settings for the chirp.
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- The Chirp axis settings is the index (0-based) of the axis to choose within the CHIRP_AXES variable specified. In the default, this means i.e. 0 means roll chirp.
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- Amplitude is the amplitude of the chirp
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- On-axis noise is the fraction of the chirp amplitude to add as noise to the chirp axis (see pprz_chirp.h for more details)
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- On-axis noise is the absolute value for off-axis noise (see pprz_chirp.h for more details)
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- Fstart_hz and Fend_hz are the frequencies in hertz at the start and end of the chirp. Make sure to cover all relevant dynamics frequencies
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- Length_s is the length in seconds of the chirp
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Start the chirp by checking the Active box in the "Activate chirp". Stop the chirp by checking the Inactive box in the same input setting.
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Add the message "CHIRP" to your telemetry to see chirp progress, and to your logger to automatically filter chirps in post-processing.
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</description>
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<section name="SYS_ID" prefix="SYS_ID_">
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<define name="CHIRP_AXES" value="{COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,COMMAND_THRUST}" description="Which axes the chirp is applied to (specify as array with {})"/>
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<define name="CHIRP_ENABLED" value="TRUE|FALSE" description="If false, the chirp does not run and values are not added"/>
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<define name="CHIRP_USE_NOISE" value="TRUE|FALSE" description="If true, add noise to all axes (also the axes where no chirp is active)"/>
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<define name="CHIRP_EXPONENTIAL" value="TRUE|FALSE" description="If true, exponential-time chirp. Else, linear-time chirp"/>
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<define name="CHIRP_FADEIN" value="TRUE|FALSE" description="If true, start the chirp with two wavelengths of the lowest frequency"/>
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</section>
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</doc>
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<settings>
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<dl_settings name="System identification">
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<dl_settings name="Chirp input">
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="Chirp" var="chirp_active" type="uint8_t" module="system_identification/sys_id_chirp" handler="activate_handler"/>
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="Fade in" var="chirp_fade_in" type="uint8_t" module="system_identification/sys_id_chirp" handler="fade_in_activate_handler" param="SYS_ID_CHIRP_FADEIN"/>
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="Exponential" var="chirp_exponential" type="uint8_t" module="system_identification/sys_id_chirp" handler="exponential_activate_handler" param="SYS_ID_CHIRP_EXPONENTIAL"/>
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<dl_setting min="0" max="7" step="1" shortname="Chirp axis" var="chirp_axis" type="uint8_t" module="system_identification/sys_id_chirp" handler="axis_handler"/>
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<dl_setting min="0" max="9600" step="100" shortname="Amplitude" var="chirp_amplitude" type="int32_t" module="system_identification/sys_id_chirp"/>
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<dl_setting min="0" max="0.5" step="0.01" shortname="on-axis noise" var="chirp_noise_stdv_onaxis_ratio" type="float" module="system_identification/sys_id_chirp"/>
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<dl_setting min="0" max="9600" step="50" shortname="off-axis noise" var="chirp_noise_stdv_offaxis" type="float" module="system_identification/sys_id_chirp"/>
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<dl_setting min="0.05" max="20" step="0.05" shortname="Fstart_hz" var="chirp_fstart_hz" type="float" module="system_identification/sys_id_chirp" handler="fstart_handler"/>
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<dl_setting min="0.1" max="20" step="0.1" shortname="Fend_hz" var="chirp_fstop_hz" type="float" module="system_identification/sys_id_chirp" handler="fstop_handler"/>
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<dl_setting min="0" max="100" step="0.5" shortname="Length_s" var="chirp_length_s" type="float" module="system_identification/sys_id_chirp"/>
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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="sys_id_chirp.h"/>
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</header>
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<init fun="sys_id_chirp_init()"/>
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<periodic fun="sys_id_chirp_run()" freq="60" autorun="TRUE"/>
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<makefile>
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<file name="pprz_random.c" dir="math"/>
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<file name="pprz_chirp.c"/>
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<file name="sys_id_chirp.c"/>
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</makefile>
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</module>
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