mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Tomaso Maria Luigi De Ponti
50694ba217
* Add actuator type attribute to command * Implemented new command based counting of the atuators in the oneloop controller * Added group attribute to dtd file. Initialize as empty subgroup count of commands. Avoid unnecessary array to list conversion. * Generate list of names from defined commands * Use the defined commands number and name in NPS * Update sw/tools/generators/gen_airframe.ml Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr> * Added logic to remove redundant code --------- Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
35 lines
1.8 KiB
XML
35 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="oneloop_andi" dir="oneloop" task="control">
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<doc>
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<description>One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="oneloop">
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<dl_setting var="p_att_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_att_e_omega_n"/>
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<dl_setting var="p_att_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_att_e_zeta"/>
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<dl_setting var="p_head_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_head_e_omega_n"/>
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<dl_setting var="p_head_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_head_e_zeta"/>
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<dl_setting var="p_pos_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_pos_e_omega_n"/>
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<dl_setting var="p_pos_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_pos_e_zeta"/>
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<dl_setting var="p_alt_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_alt_e_omega_n"/>
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<dl_setting var="p_alt_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_alt_e_zeta"/>
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<dl_setting var="psi_des_deg" min="-180.0" step="0.1" max="180.0" shortname="psi_des"/>
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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="oneloop_andi.h"/>
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</header>
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<init fun="oneloop_andi_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="oneloop_andi.c" dir="$(SRC_FIRMWARE)/oneloop"/>
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<configure name="ANDI_OUTPUTS" default="6"/>
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<define name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
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</makefile>
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</module>
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