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e075daf06f
- add a generic linear kalman filter lib - add a quad model with linear drag and simplified for recent jsbsim - add example frame and noisy NPS sensor config see "Estimating wind using a quadrotor" in IMAV2021 proceedings
51 lines
2.7 KiB
XML
51 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="wind_estimation_quadrotor" dir="meteo">
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<doc>
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<description>
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Wind estimation from quadrotor motion
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Estimation using a linear Kalman filter
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For details, see:
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G. Hattenberger, M. Bronz, and J. Condomines, “Estimating wind using a quadrotor,”
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in 12th international micro air vehicle conference, Puebla, México, 2021, p. 124–130.
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</description>
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<section name="WE_QUAD" prefix="WE_QUAD_">
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<define name="MASS" value="required" description="mass of the airframe" unit="kg"/>
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<define name="DRAG" value="required" description="linear drag coefficient modeling the relation between drag and bank angle"/>
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<define name="P0_VA" value="1." description="initial covariance on airspeed estimate"/>
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<define name="P0_W" value="1." description="initial covariance on wind estimate"/>
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<define name="Q_VA" value="0.05" description="process noise on airspeed"/>
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<define name="Q_W" value="0.001" description="process noise on wind estimate"/>
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<define name="R" value="0.5" description="measurement noise on ground speed"/>
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<define name="UPDATE_STATE" value="FALSE|TRUE" description="update directly wind estimation in state interface (default: TRUE)"/>
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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="Wind quad">
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<dl_setting MIN="0.001" MAX="1" STEP="0.01" VAR="we_quad_params.Q_va" shortname="Q_va" module="meteo/wind_estimation_quadrotor" handler="SetQva"/>
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<dl_setting MIN="0.001" MAX="0.1" STEP="0.001" VAR="we_quad_params.Q_w" shortname="Q_w" module="meteo/wind_estimation_quadrotor" handler="SetQw"/>
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<dl_setting MIN="0.01" MAX="3" STEP="0.01" VAR="we_quad_params.R" shortname="R" module="meteo/wind_estimation_quadrotor" handler="SetR"/>
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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="wind_estimation_quadrotor.h"/>
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</header>
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<init fun="wind_estimation_quadrotor_init()"/>
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<periodic fun="wind_estimation_quadrotor_periodic()" freq="10.0" start="wind_estimation_quadrotor_stop()" stop="wind_estimation_quadrotor_start()" autorun="FALSE"/>
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<periodic fun="wind_estimation_quadrotor_report()" freq="10.0" autorun="FALSE"/>
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<makefile>
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<file name="wind_estimation_quadrotor.c"/>
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<file name="linear_kalman_filter.c" dir="filters"/>
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<test>
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<define name="WE_QUAD_MASS" value="1."/>
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<define name="WE_QUAD_DRAG" value="1."/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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<define name="WIND_ESTIMATION_QUADROTOR_PERIODIC_PERIOD" value="0.1"/>
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</test>
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</makefile>
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</module>
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