mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
74f8b74624
* First shot towards a separate HITL target * Changes in HITL - still doesn't compile * Added makefile selection * HITL target works for fixedwing and rotorcraft - still needs cleanup and TLC * Removed info messages from compilation process
61 lines
2.8 KiB
XML
61 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_skid_landing" dir="nav">
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<doc>
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<description>
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Landing on skidpads
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See video of the landing: https://www.youtube.com/watch?v=aYrB7s3oeX4
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Standard landing procedure:
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1) circle down passing AF waypoint (from left or right)
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2) once low enough follow line to TD waypoint
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3) once low enough flare
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</description>
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<section name="LANDING" prefix="SKID_LANDING_">
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<define name="AF_HEIGHT" value="50" unit="m"/>
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<define name="FINAL_HEIGHT" value="50" unit="m"/>
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<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
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<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
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<define name="LANDING_THROTTLE_MAX" value="0.65"/>
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<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
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<define name="LANDING_PITCH_PGAIN" value="0.1"/>
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<define name="LANDING_PITCH_IGAIN" value="0.1"/>
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<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
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<define name="LANDING_PITCH_FLARE" value="0.06"/>
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<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
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<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
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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="NavSkidLanding">
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<dl_setting var="v_ctl_landing_throttle_pgain" min="0" step="1" max="1000" shortname="throttle_pgain"/>
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<dl_setting var="v_ctl_landing_throttle_igain" min="0" step="0.1" max="100" shortname="throttle_igain"/>
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<dl_setting var="v_ctl_landing_throttle_max" min="0" step="0.01" max="1" shortname="throttle_max"/>
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<dl_setting var="v_ctl_landing_desired_speed" min="1" step="1" max="50" shortname="landing_speed"/>
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<dl_setting var="v_ctl_landing_pitch_pgain" min="0" step="0.01" max="10" shortname="pitch_pgain"/>
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<dl_setting var="v_ctl_landing_pitch_igain" min="0" step="0.01" max="10" shortname="pitch_igain"/>
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<dl_setting var="v_ctl_landing_pitch_limits" min="0" step="0.01" max="1" shortname="pitch_limits"/>
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<dl_setting var="v_ctl_landing_pitch_flare" min="0" step="0.01" max="1" shortname="flare_pgain"/>
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<dl_setting var="v_ctl_landing_alt_throttle_kill" min="0" step="1" max="30" shortname="motor_kill_alt"/>
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<dl_setting var="v_ctl_landing_alt_flare" min="0" step="1" max="30" shortname="flare_alt"/>
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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="nav_skid_landing.h"/>
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</header>
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<makefile target="ap|sim|nps|hitl">
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<file name="nav_skid_landing.c"/>
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<define name="CTRL_VERTICAL_LANDING" value="1"/>
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</makefile>
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</module>
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