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Rollervi97
70 lines
4.0 KiB
XML
70 lines
4.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="sys_id_wave" dir="system_identification">
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<doc>
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<description>Wave maneuver for system identification.
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The wave provide a sine input to the specified command axis.
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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_wave_add_values(autopilot_get_motors_on(),FALSE,values)"/>
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You can pick the axes to apply waves to by setting the WAVE_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 wave.
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- The wave axis settings is the index (0-based) of the axis to choose within the WAVE_AXES variable specified. In the default, this means i.e. 0 means roll wave.
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- Amplitude is the amplitude of the wave
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- Freqyency_hz is the frequency in Hertz of the wave
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- Lag_rad is the lag in radiants for the wave signal
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Start the wave by checking the Active box in the "Activate wave". Stop the wave by checking the Inactive box in the same input setting.
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Add the message "WAVE" to your telemetry to see wave progress, and to your logger to obtain information about the provided input.
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Add the following message structure to the messages.xml file on a free ID
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<!--
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<message name="WAVE" id="00">
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<field name="active" type="uint8" unit="bool">Wave is active</field>
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<field name="axis" type="uint8">Current wave axis</field>
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<field name="amplitude" type="int16">Wave amplitude</field>
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<field name="lag_rad" type="float">Lag in radiants</field>
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<field name="frequency_hz" type="float">Wave frequency</field>
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<field name="current_value" type="int16">Current wave value</field>
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</message>
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-->
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</description>
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<define name="WAVE_AXES" value="{COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW}" description="Which axes the wave is applied to (specify as array with {})"/>
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<define name="WAVE_ENABLED" value="TRUE|FALSE" description="If false, the wave does not run and values are not added"/>
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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="Wave input">
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="Activate wave" var="wave_active" type="uint8_t" module="system_identification/sys_id_wave" handler="activate_handler">
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</dl_setting>
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<dl_setting min="0" max="9600" step="100" shortname="Amplitude" var="wave_amplitude" type="int32_t" module="system_identification/sys_id_wave"/>
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<dl_setting min="0" max="5" step="1" shortname="Wave axis" var="wave_axis" type="uint8_t" module="system_identification/sys_id_wave" handler="axis_handler"/>
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<dl_setting min="0" max="20" step="0.5" shortname="frenquency_hz" var="frequency_hz_" type="float" module="system_identification/sys_id_wave" handler="frequency_hz_set"/>
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<dl_setting min="0" max="6.28" step="0.0174" shortname="lag_rad_" var="lag_rad_" type="float" module="system_identification/sys_id_wave" handler="lag_rad_set"/>
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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_wave.h"/>
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</header>
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<init fun="sys_id_wave_init()"/>
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<periodic fun="sys_id_wave_run()" freq="60" autorun="TRUE"/>
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<makefile>
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<file name="pprz_wave.c"/>
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<file name="sys_id_wave.c"/>
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</makefile>
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</module>
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