mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
1229e0489a
* [modules] EKF Airspeed and Wind * Test EKF_AW * Also compile for non-rot-wing * fix RPM in EKF_AW * rpm fix * Remove double debug messages * follow master spacing * Fix code style * rotwing_controller renamed
152 lines
10 KiB
XML
152 lines
10 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ekf_aw" dir="meteo">
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<doc>
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<description>
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Airspeed and Wind Estimator with EKF
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Frédéric Larocque
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</description>
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<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF" value="25" description="Airspeed periodic frequency"/>
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<define name="PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH" value="100" description="Airspeed periodic fetch frequency"/>
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<define name="EKF_AW_P0_V_BODY" value="1e-00f" description="Initial covariance body velocity"/>
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<define name="EKF_AW_P0_MU" value="1e-00f" description="Initial covariance wind"/>
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<define name="EKF_AW_P0_OFFSET" value="1e-00f" description="Initial covariance offset"/>
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<define name="EKF_AW_Q_ACCEL" value="1e-00f" description="Accel process noise"/>
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<define name="EKF_AW_Q_GYRO" value="1e-00f" description="Gyro process noise"/>
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<define name="EKF_AW_Q_MU" value="1e-00f" description="Wind process noise"/>
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<define name="EKF_AW_Q_OFFSET" value="1e-00f" description="Offset process noise"/>
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<define name="EKF_AW_R_V_GND" value="1e-00f" description="GPS Velocity measurement noise"/>
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<define name="EKF_AW_R_ACCEL_FILT_X" value="1e-00f" description="Filtered x accel measurement noise"/>
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<define name="EKF_AW_R_ACCEL_FILT_Y" value="1e-00f" description="Filtered y accel measurement noise"/>
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<define name="EKF_AW_R_ACCEL_FILT_Z" value="1e-00f" description="Filtered z accel measurement noise"/>
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<define name="EKF_AW_R_V_PITOT" value="1e-00f" description="Pitot Tube Velocity measurement noise"/>
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<define name="EKF_AW_WING_INSTALLED" value="false" description="Use wing contribution"/>
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<define name="EKF_AW_USE_MODEL_BASED" value="false" description="Use model based to augment filter"/>
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<define name="EKF_AW_USE_BETA" value="false" description="Use beta to estimate sideforce"/>
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<define name="EKF_AW_PROPAGATE_OFFSET" value="false" description="Propagate the offset state"/>
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<define name="EKF_AW_VEHICLE_MASS" value="0.0" description="Mass of the vehicle"/>
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<define name="EKF_AW_K1_FX_DRAG" value="0.f" description="Drag coefficient linear to u used if use model based is set to false"/>
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<define name="EKF_AW_K2_FX_DRAG" value="0.f" description="Drag coefficient linear to u^2 used if use model based is set to false"/>
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<define name="EKF_AW_K_FY_BETA" value="1e-00f" description="Fy v (side velocity) coefficient"/>
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<define name="EKF_AW_K_FY_V" value="1e-00f" description="Fy beta coefficient"/>
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<define name="EKF_AW_K1_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
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<define name="EKF_AW_K2_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
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<define name="EKF_AW_K3_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
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<define name="EKF_AW_K4_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/>
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<define name="EKF_AW_K1_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/>
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<define name="EKF_AW_K2_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/>
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<define name="EKF_AW_K1_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
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<define name="EKF_AW_K2_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
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<define name="EKF_AW_K3_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
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<define name="EKF_AW_K4_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
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<define name="EKF_AW_K5_FX_WING" value="1e-00f" description="Fx Wing Coeff"/>
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<define name="EKF_AW_K1_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
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<define name="EKF_AW_K2_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
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<define name="EKF_AW_K3_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/>
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<define name="EKF_AW_K1_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
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<define name="EKF_AW_K2_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
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<define name="EKF_AW_K3_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/>
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<define name="EKF_AW_K1_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
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<define name="EKF_AW_K2_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
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<define name="EKF_AW_K3_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
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<define name="EKF_AW_K4_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/>
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<define name="EKF_AW_K1_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
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<define name="EKF_AW_K2_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
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<define name="EKF_AW_K3_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
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<define name="EKF_AW_K4_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/>
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<define name="EKF_AW_K1_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
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<define name="EKF_AW_K2_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
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<define name="EKF_AW_K3_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
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<define name="EKF_AW_K4_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
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<define name="EKF_AW_K5_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/>
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<define name="EKF_AW_K1_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/>
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<define name="EKF_AW_K2_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/>
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<define name="EKF_AW_ELEV_MAX_ANGLE" value="1e-00f" description="Maximum elevator angle"/>
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<define name="EKF_AW_ELEV_MIN_ANGLE" value="1e-00f" description="Minimum elevator angle"/>
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<define name="EKF_AW_AOA_MAX_ANGLE" value="1e-00f" description="Maximum angle of attack"/>
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<define name="EKF_AW_AOA_MIN_ANGLE" value="1e-00f" description="Minimum angle of attack"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="EKF_Airspeed_Wind">
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<dl_setting min="0" max="1" step="1" var="ekf_aw.override_start" module="meteo/ekf_aw_wrapper" shortname="Override Start"/>
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<dl_setting min="0" max="1" step="1" var="ekf_aw.override_quick_convergence" module="meteo/ekf_aw_wrapper" shortname="Override Quick Convergence"/>
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<dl_setting min="0" max="1" step="1" var="ekf_aw.reset" module="meteo/ekf_aw_wrapper" shortname="Reset States and Health" handler="reset"/>
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<dl_setting min="0" max="1" step="1" var="ekf_aw_params.propagate_offset" module="meteo/ekf_aw" shortname="propagate offset"/>
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<dl_setting min="1E-1" max="8" step="1E-1" var="ekf_aw_params.vehicle_mass" module="meteo/ekf_aw" shortname="Vehicle Mass"/>
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<dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[0]" module="meteo/ekf_aw" shortname="k_drag_lin"/>
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<dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[1]" module="meteo/ekf_aw" shortname="k_drag_quad"/>
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<dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_beta" module="meteo/ekf_aw" shortname="k_beta"/>
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<dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_v" module="meteo/ekf_aw" shortname="k_v"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_accel" module="meteo/ekf_aw" shortname="Q accel" handler="update_Q_accel"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_gyro" module="meteo/ekf_aw" shortname="Q gyro" handler="update_Q_gyro"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_mu" module="meteo/ekf_aw" shortname="Q wind" handler="update_Q_mu"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_k" module="meteo/ekf_aw" shortname="Q offset" handler="update_Q_k"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_gnd" module="meteo/ekf_aw" shortname="R V_gnd" handler="update_R_V_gnd"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[0]" module="meteo/ekf_aw" shortname="R Accel Filt x" handler="update_R_accel_filt_x"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[1]" module="meteo/ekf_aw" shortname="R Accel Filt y" handler="update_R_accel_filt_y"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[2]" module="meteo/ekf_aw" shortname="R Accel Filt z" handler="update_R_accel_filt_z"/>
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<dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_pitot" module="meteo/ekf_aw" shortname="R Pitot" handler="update_R_V_pitot"/>
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<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.x" module="meteo/ekf_aw_wrapper" shortname="Wind Guess N" handler="set_wind_N"/>
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<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.y" module="meteo/ekf_aw_wrapper" shortname="Wind Guess E" handler="set_wind_E"/>
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<dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.z" module="meteo/ekf_aw_wrapper" shortname="Wind Guess D" handler="set_wind_D"/>
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<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.x" module="meteo/ekf_aw_wrapper" shortname="Offset Guess x" handler="set_offset_x"/>
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<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.y" module="meteo/ekf_aw_wrapper" shortname="Offset Guess y" handler="set_offset_y"/>
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<dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.z" module="meteo/ekf_aw_wrapper" shortname="Offset Guess z" handler="set_offset_z"/>
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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="ekf_aw_wrapper.h"/>
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</header>
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<init fun="ekf_aw_wrapper_init()"/>
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<periodic fun="ekf_aw_wrapper_periodic()" freq="25"/>
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<periodic fun="ekf_aw_wrapper_fetch()" freq="100"/>
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<makefile target="ap|nps">
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<file name="ekf_aw.cpp"/>
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<file name="ekf_aw_wrapper.c"/>
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<include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/>
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</makefile>
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</module>
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<!--Your comment
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Target NPS or AP
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<configure name="CXXSTANDARD" value="-std=c++14"/>
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<flag name="LDFLAGS" value="lstdc++" />
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Target AP
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<define name="EIGEN_NO_DEBUG"/> Removes debug checks and should lead to faster code execution
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<flag name="CXXFLAGS" value="Wno-bool-compare"/>
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<flag name="CXXFLAGS" value="Wno-logical-not-parentheses"/>
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<datalink message="PING" fun="datalink_parse_PING(dev, trans, buf)"/>
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-->
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