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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
37a86bb389
This PR allows to redefine the outer-loop for stabilization and guidance, and to specify the guidance model for something else than a quarotor (but still not an hybrid). Two use case are proposed: - replace the PD control of the outer-loop (still used by default) by and Hinfinity controller - parametrize the guidance for an hexa-copter with tilted motors, allowing to produce side force for lateral motion control.
34 lines
1.3 KiB
XML
34 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="guidance_indi_base" dir="guidance" task="control">
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<doc>
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<description>
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Base guidance controller for rotorcraft using INDI
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Requires a model, e.g. quadrotor, fully_actuated, ...
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</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="guidance_indi">
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<dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
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<dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
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<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>@navigation,guidance_rotorcraft</depends>
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<provides>guidance,attitude_command</provides>
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</dep>
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<header>
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<file name="guidance_indi.h"/>
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</header>
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<init fun="guidance_indi_init()"/>
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<init fun="guidance_indi_enter()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="guidance_indi.c" dir="$(SRC_FIRMWARE)/guidance"/>
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<define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
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<define name="GUIDANCE_INDI_USE_AS_DEFAULT" value="TRUE"/>
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</makefile>
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</module>
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