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https://github.com/paparazzi/paparazzi.git
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jpgdubois
171 lines
14 KiB
XML
171 lines
14 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_andi" dir="stabilization" task="control">
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<doc>
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<description>
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Full ANDI stabilization controller for rotorcraft
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</description>
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<configure name="ANDI_OUTPUTS" default="4"/>
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<configure name="ANDI_NUM_ACT" default="4"/>
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<section name="STABILIZATION_ATTITUDE_ANDI" prefix="STABILIZATION_ANDI_">
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<define name="SCHEDULE_EFF" value="0" description="1 to schedule control effectiveness based on throttle command. 0 uses ACT_PREF to compute constant control effectiveness"/>
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<define name="USE_STATE_DYNAMICS" value="0" description="1 to use obm state derivative term, 0 to neglect this term."/>
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<define name="RELAX_OBM" value="1.0f" description="relaxation factor for obm state derivative contribution."/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 0}" description="1 for every actuator that is a servo"/>
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<define name="ACT_DYNAMICS" description="actuator bandwidth [rad/s]"/>
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<define name="ACT_DELAY" description="actuator transport delay [samples]"/>
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<define name="ACT_MAX" description="maximum actuator value [SI units]"/>
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<define name="ACT_MIN" description="maximum actuator value [SI units]"/>
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<define name="ACT_RATE_MAX" description="minimum actuator rate [SI units]"/>
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<define name="ACT_RATE_MIN" description="minimum actuator rate [SI units]"/>
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<define name="ACT_PREF" value="{0.0, 0.0, 0.0, 0.0}" description="preferred actuator value used for unscheduled control effectiveness"/>
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<define name="WLS_WV" value="{1000, 1000, 1, 100}" description="WLS control objective priorities: roll, pitch, yaw, thrust (size of ANDI_OUTPUTS)"/>
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<define name="WLS_WU" value="{1, 1, 1, 1}" description="WLS actuator cost (size of ANDI_NUM_ACT)"/>
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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="andi">
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<dl_setting var="andi_p_rate_rm.omega_a.x" min="0" step="0.25" max="100" shortname="pole_rate_rm/omega_a.x" param="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_X"/>
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<dl_setting var="andi_p_rate_rm.omega_a.y" min="0" step="0.25" max="100" shortname="pole_rate_rm/omega_a.y" param="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Y"/>
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<dl_setting var="andi_p_rate_rm.omega_a.z" min="0" step="0.25" max="100" shortname="pole_rate_rm/omega_a.z" param="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Z"/>
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<dl_setting var="andi_p_rate_rm.zeta.x" min="0" step="0.25" max="5" shortname="pole_rate_rm/zeta.x" param="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_X"/>
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<dl_setting var="andi_p_rate_rm.zeta.y" min="0" step="0.25" max="5" shortname="pole_rate_rm/zeta.y" param="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Y"/>
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<dl_setting var="andi_p_rate_rm.zeta.z" min="0" step="0.25" max="5" shortname="pole_rate_rm/zeta.z" param="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Z"/>
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<dl_setting var="andi_p_att_rm.omega_n.x" min="0" step="0.25" max="100" shortname="pole_att_rm/omega_n.x" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_X"/>
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<dl_setting var="andi_p_att_rm.omega_n.y" min="0" step="0.25" max="100" shortname="pole_att_rm/omega_n.y" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Y"/>
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<dl_setting var="andi_p_att_rm.omega_n.z" min="0" step="0.25" max="100" shortname="pole_att_rm/omega_n.z" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Z"/>
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<dl_setting var="andi_p_att_rm.zeta.x" min="0" step="0.25" max="5" shortname="pole_att_rm/zeta.x" param="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_X"/>
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<dl_setting var="andi_p_att_rm.zeta.y" min="0" step="0.25" max="5" shortname="pole_att_rm/zeta.y" param="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Y"/>
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<dl_setting var="andi_p_att_rm.zeta.z" min="0" step="0.25" max="5" shortname="pole_att_rm/zeta.z" param="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Z"/>
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<dl_setting var="andi_p_att_rm.omega_a.x" min="0" step="0.25" max="100" shortname="pole_att_rm/p1.x" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_X"/>
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<dl_setting var="andi_p_att_rm.omega_a.y" min="0" step="0.25" max="100" shortname="pole_att_rm/p1.y" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Y"/>
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<dl_setting var="andi_p_att_rm.omega_a.z" min="0" step="0.25" max="100" shortname="pole_att_rm/p1.z" param="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Z"/>
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<dl_setting var="andi_p_thrust_rm" min="0" step="0.25" max="100" shortname="pole_thrust_rm" param="STABILIZATION_ANDI_POLE_THRUST_RM"/>
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<dl_setting var="andi_p_rate_ec.omega_a.x" min="0" step="0.25" max="100" shortname="pole_rate_ec/omega_a.x" param="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_X"/>
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<dl_setting var="andi_p_rate_ec.omega_a.y" min="0" step="0.25" max="100" shortname="pole_rate_ec/omega_a.y" param="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Y"/>
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<dl_setting var="andi_p_rate_ec.omega_a.z" min="0" step="0.25" max="100" shortname="pole_rate_ec/omega_a.z" param="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Z"/>
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<dl_setting var="andi_p_rate_ec.zeta.x" min="0" step="0.25" max="5" shortname="pole_rate_ec/zeta.x" param="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_X"/>
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<dl_setting var="andi_p_rate_ec.zeta.y" min="0" step="0.25" max="5" shortname="pole_rate_ec/zeta.y" param="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Y"/>
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<dl_setting var="andi_p_rate_ec.zeta.z" min="0" step="0.25" max="5" shortname="pole_rate_ec/zeta.z" param="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Z"/>
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<dl_setting var="andi_p_att_ec.omega_n.x" min="0" step="0.25" max="100" shortname="pole_att_ec/omega_n.x" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_X"/>
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<dl_setting var="andi_p_att_ec.omega_n.y" min="0" step="0.25" max="100" shortname="pole_att_ec/omega_n.y" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Y"/>
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<dl_setting var="andi_p_att_ec.omega_n.z" min="0" step="0.25" max="100" shortname="pole_att_ec/omega_n.z" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Z"/>
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<dl_setting var="andi_p_att_ec.zeta.x" min="0" step="0.25" max="5" shortname="pole_att_ec/zeta.x" param="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_X"/>
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<dl_setting var="andi_p_att_ec.zeta.y" min="0" step="0.25" max="5" shortname="pole_att_ec/zeta.y" param="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Y"/>
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<dl_setting var="andi_p_att_ec.zeta.z" min="0" step="0.25" max="5" shortname="pole_att_ec/zeta.z" param="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Z"/>
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<dl_setting var="andi_p_att_ec.omega_a.x" min="0" step="0.25" max="100" shortname="pole_att_ec/p1.x" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_X"/>
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<dl_setting var="andi_p_att_ec.omega_a.y" min="0" step="0.25" max="100" shortname="pole_att_ec/p1.y" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Y"/>
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<dl_setting var="andi_p_att_ec.omega_a.z" min="0" step="0.25" max="100" shortname="pole_att_ec/p1.z" param="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Z"/>
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<dl_setting var="andi_p_thrust_ec" min="0" step="0.25" max="100" shortname="pole_thrust_ec" param="STABILIZATION_ANDI_POLE_THRUST_EC"/>
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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>stabilization_rotorcraft,@attitude_command,wls</depends>
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<provides>commands</provides>
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</dep>
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<header>
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<file name="stabilization_andi.h"/>
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</header>
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<init fun="stabilization_andi_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="stabilization_andi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="obm_cyclone.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<configure name="ANDI_OUTPUTS" default="4"/>
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<configure name="ANDI_NUM_ACT" default="4"/>
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<define name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
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<define name="ANDI_NUM_ACT" value="$(ANDI_NUM_ACT)"/>
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<define name="USE_STABILIZATION_RATE"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_X" default="35.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Y" default="20.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Z" default="20.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_X" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Y" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Z" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_X" default="35.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Y" default="20.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Z" default="20.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_X" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Y" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Z" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_X" default="7.0"/> <!-- rad/s-->
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Y" default="7.0"/> <!-- rad/s-->
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Z" default="7.0"/> <!-- rad/s-->
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_X" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Y" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Z" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_X" default="35.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Y" default="20.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Z" default="20.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_X" default="7.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Y" default="7.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Z" default="7.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_X" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Y" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Z" default="1.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_X" default="35.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Y" default="20.0"/>
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<configure name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Z" default="20.0"/>
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<configure name="STABILIZATION_ANDI_POLE_THRUST_EC" default="35.0"/> <!-- Equivalent actuator bandwidth -->
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<configure name="STABILIZATION_ANDI_POLE_THRUST_RM" default="35.0"/> <!-- Equivalent actuator bandwidth -->
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_X" value="$(STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_X)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Y" value="$(STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Z" value="$(STABILIZATION_ANDI_POLE_RATE_EC_OMEGA_A_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_X" value="$(STABILIZATION_ANDI_POLE_RATE_EC_ZETA_X)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Y" value="$(STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Z" value="$(STABILIZATION_ANDI_POLE_RATE_EC_ZETA_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_X" value="$(STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_X)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Y" value="$(STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Z" value="$(STABILIZATION_ANDI_POLE_RATE_RM_OMEGA_A_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_X" value="$(STABILIZATION_ANDI_POLE_RATE_RM_ZETA_X)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Y" value="$(STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Z" value="$(STABILIZATION_ANDI_POLE_RATE_RM_ZETA_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_X" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Y" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Z" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_N_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_X" value="$(STABILIZATION_ANDI_POLE_ATT_EC_ZETA_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Y" value="$(STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Z" value="$(STABILIZATION_ANDI_POLE_ATT_EC_ZETA_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_X" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Y" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Z" value="$(STABILIZATION_ANDI_POLE_ATT_EC_OMEGA_A_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_X" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Y" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Z" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_N_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_X" value="$(STABILIZATION_ANDI_POLE_ATT_RM_ZETA_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Y" value="$(STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Z" value="$(STABILIZATION_ANDI_POLE_ATT_RM_ZETA_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_X" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_X)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Y" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Y)"/>
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<define name="STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Z" value="$(STABILIZATION_ANDI_POLE_ATT_RM_OMEGA_A_Z)"/>
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<define name="STABILIZATION_ANDI_POLE_THRUST_EC" value="$(STABILIZATION_ANDI_POLE_THRUST_EC)"/>
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<define name="STABILIZATION_ANDI_POLE_THRUST_RM" value="$(STABILIZATION_ANDI_POLE_THRUST_RM)"/>
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</makefile>
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</module>
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