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Rollervi97
72 lines
4.8 KiB
XML
72 lines
4.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="sys_id_doublet" dir="system_identification">
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<doc>
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<description>Doublet input for system identification.
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The doublet is a multi step maneuver for system identification. Two modes are implemented, the 0,1,-1,0 maneuver (which correspond to
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one period of a squared sine wave oscillation, and the "so-called" 3-2-1-1 maneuver.
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The module is used by including the module in the airframe file and adding the following line to the <command_laws> section:
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<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,values)"/>
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You can pick the axes to apply doublets to by setting the DOUBLET_AXES variable with the COMMAND_XXX variables where XXX are the actuators defined in
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the <commands> section of your airframe.
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Remeber to deactivate the control input when the system identification input is running using (can be checked using the sys_id_wave_running() function)
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Then, the GCS exposes the settings for the doublet.
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- 3-2-1-1 setting is to execute the 3-2-1-1 doublet maneuver when active. Otherwise, the normal 1-1 doublet maneuver will be executed.
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- The Doublet axis settings is the index (0-based) of the axis to choose within the DOUBLET_AXES variable specified. In the default, this means i.e. 0 means roll doublet.
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- Amplitude is the amplitude of the doublet
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- Length_s is the length in seconds of the doublet. The lenght of each doublet step depends on the active mode and on the doublet lenght.
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- Extra_waiting_time_s is the length in second of the waiting time with zero input after the doublet maneuver is over.
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Start the doublet by checking the Active box in the "Activate doublet". Stop the doublet by checking the Inactive box in the same input setting.
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Add the message "DOUBLET" to your telemetry to see doublet progress, and to your logger to obtain information about the provided input.
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Add the following message structure to the messages.xml file on a free ID
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<!--
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<message name="DOUBLET" id="181">
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<field name="active" type="uint8" unit="bool">Doublet is active</field>
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<field name="axis" type="uint8">Current doublet axis</field>
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<field name="amplitude" type="int16">Amplitude</field>
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<field name="current_value" type="int16">Current doublet value</field>
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<field name="mode_3211_active" type="uint8">Doublet 3211 mode active</field>
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</message>
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-->
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</description>
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<define name="DOUBLET_AXES" value="{COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW}" description="Which axes the doublet is applied to (specify as array with {})"/>
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<define name="DOUBLET_ENABLED" value="TRUE|FALSE" description="If false, the doublet does not run and values are not added"/>
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<define name="DOUBLET_MOD3211" value="TRUE|FALSE" description="If true, the 3-2-1-1 doublet will be executed instead of the normal doublet"/>
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</doc>
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<settings>
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<dl_settings name="System identification">
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<dl_settings name="Doublet input">
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="Doublet" var="doublet_active" type="uint8_t" module="system_identification/sys_id_doublet" handler="activate_handler"/>
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<dl_setting min="0" max="1" step="1" values="Inactive|Active" shortname="3-2-1-1 mode" var="doublet_mode_3211" type="uint8_t" module="system_identification/sys_id_doublet" handler="mod3211_handler"/>
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<dl_setting min="0" max="9600" step="100" shortname="Amplitude" var="doublet_amplitude" type="int32_t" module="system_identification/sys_id_doublet"/>
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<dl_setting min="0" max="5" step="1" shortname="Doublet axis" var="doublet_axis" type="uint8_t" module="system_identification/sys_id_doublet" handler="axis_handler"/>
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<dl_setting min="0" max="100" step="0.5" shortname="Length_s" var="doublet_length_s" type="float" module="system_identification/sys_id_doublet"/>
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<dl_setting min="0" max="100" step="0.5" shortname="Extra_waiting_s" var="doublet_extra_waiting_time_s" type="float" module="system_identification/sys_id_doublet"/>
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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="sys_id_doublet.h"/>
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</header>
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<init fun="sys_id_doublet_init()"/>
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<periodic fun="sys_id_doublet_run()" freq="60" autorun="TRUE"/>
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<makefile>
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<file name="pprz_doublet.c"/>
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<file name="sys_id_doublet.c"/>
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</makefile>
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</module>
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