mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
80 lines
5.4 KiB
XML
80 lines
5.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_indi" dir="stabilization">
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<doc>
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<description>
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Full INDI stabilization controller for rotorcraft
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</description>
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<configure name="INDI_OUTPUTS" default="4"/>
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<configure name="INDI_NUM_ACT" default="4"/>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<define name="SP_MAX_PHI" value="45." description="max setpoint for roll angle" unit="deg"/>
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<define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
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<define name="SP_MAX_R" value="90." description="max setpoint for yaw rate" unit="deg/s"/>
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<define name="DEADBAND_R" value="250" description="deadband on yaw rate input"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<define name="G1_ROLL" value="{20 , -20, -20 , 20 }" description="control effectiveness of every actuator on the roll axis"/>
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<define name="G1_PITCH" value="{14 , 14, -14 , -14 }" description="control effectiveness of every actuator on the pitch axis"/>
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<define name="G1_YAW" value="{-1, 1, -1, 1}" description="control effectiveness of every actuator on the yaw axis"/>
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<define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}" description="control effectiveness of every actuator on the thrust axis"/>
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<define name="G2" value="{-60.0, 60.0, -60.0, 60.0}" description="control effectiveness of every actuator derivative on the yaw axis (important for propellers with strong torque changes)"/>
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<define name="REF_ERR_P" value="600.0" description="INDI gains linear controller"/>
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<define name="REF_ERR_Q" value="600.0" description="INDI gains linear controller"/>
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<define name="REF_ERR_R" value="600.0" description="INDI gains linear controller"/>
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<define name="REF_RATE_P" value="28.0" description="INDI gains linear controller"/>
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<define name="REF_RATE_Q" value="28.0" description="INDI gains linear controller"/>
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<define name="REF_RATE_R" value="28.0" description="INDI gains linear controller"/>
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<define name="MAX_R" value="120.0" description="max yaw rate" unit="deg/s"/>
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<define name="FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
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<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}" description="actuator dynamics"/>
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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_RATE_LIMIT" value="{9600,9600,9600,9600}" description="rate limit in PPRZ units per timestep (depends on control frequency)"/>
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<define name="ACT_PREF" value="{0.0, 0.0, 0.0, 0.0}" description="preferred (low energy) actuator value. Important when the system is over-determined!"/>
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<define name="USE_ADAPTIVE" value="FALSE|TRUE" description="enable adaptive gains"/>
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<define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
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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="indi">
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<dl_setting var="indi_gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/>
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<dl_setting var="indi_gains.rate.p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
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<dl_setting var="indi_gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/>
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<dl_setting var="indi_gains.rate.q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
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<dl_setting var="indi_gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
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<dl_setting var="indi_gains.rate.r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
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<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
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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</depends>
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</dep>
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<header>
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<file name="stabilization_indi.h"/>
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</header>
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<init fun="stabilization_indi_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="stabilization_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="stabilization_attitude_quat_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="wls_alloc.c" dir="$(SRC_FIRMWARE)/stabilization/wls"/>
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<file name="qr_solve.c" dir="math/qr_solve"/>
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<file name="r8lib_min.c" dir="math/qr_solve"/>
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<configure name="INDI_OUTPUTS" default="4"/>
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<configure name="INDI_NUM_ACT" default="4"/>
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<define name="INDI_OUTPUTS" value="$(INDI_OUTPUTS)"/>
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<define name="INDI_NUM_ACT" value="$(INDI_NUM_ACT)"/>
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<define name="CA_N_V" value="$(INDI_OUTPUTS)"/>
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<define name="CA_N_U" value="$(INDI_NUM_ACT)"/>
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<define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
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<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization/stabilization_attitude_quat_indi.h" type="string"/>
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<define name="STABILIZATION_ATTITUDE_INDI_FULL" value="true"/>
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</makefile>
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</module>
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