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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
4b6c185516
The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach, two separated controls are used for hovering (INDI) and forward flight (PID). The mixing is done by a dedicated module and the autopilot is customized to support the specific modes. A simple PID controller is added to the rotorcraft firmware as it is not possible to directly reuse the one from fixedwing firmware. In a future work, a full INDI version might be used, but this approach can still serves as an example of customized autopilot. A simulation model for JSBSim is also provided.
43 lines
2.5 KiB
XML
43 lines
2.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_plane_pid" dir="stabilization" task="control">
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<doc>
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<description>
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Basic fixed-wing PID controller for rotorcraft firmware using float euler implementation
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</description>
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<section name="STABILIZATION_PLANE" prefix="STABILIZATION_PLANE_">
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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="PHI_PGAIN" value="400" description="feedback roll P gain"/>
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<define name="PHI_DGAIN" value="300" description="feedback roll D gain"/>
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<define name="PHI_IGAIN" value="100" description="feedback roll I gain"/>
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<define name="THETA_PGAIN" value="400" description="feedback pitch P gain"/>
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<define name="THETA_DGAIN" value="300" description="feedback pitch D gain"/>
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<define name="THETA_IGAIN" value="100" description="feedback pitch I gain"/>
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</section>
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</doc>
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<settings target="ap|nps">
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<dl_settings>
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<dl_settings NAME="Att Loop">
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<dl_setting var="stab_plane_gains.p.x" min="1" step="1" max="15000" shortname="pgain phi" param="STABILIZATION_PLANE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude_plane_pid"/>
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<dl_setting var="stab_plane_gains.i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_PLANE_PHI_IGAIN" persistent="true"/>
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<dl_setting var="stab_plane_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_PLANE_PHI_DGAIN" persistent="true"/>
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<dl_setting var="stab_plane_gains.p.y" min="1" step="1" max="15000" shortname="pgain theta" param="STABILIZATION_PLANE_THETA_PGAIN" persistent="true"/>
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<dl_setting var="stab_plane_gains.i.y" min="0" step="1" max="800" shortname="igain theta" param="STABILIZATION_PLANE_THETA_IGAIN" persistent="true"/>
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<dl_setting var="stab_plane_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_PLANE_THETA_DGAIN" persistent="true"/>
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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</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_attitude_plane_pid.h"/>
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</header>
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<init fun="stabilization_attitude_plane_pid_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="stabilization_attitude_plane_pid.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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</makefile>
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</module>
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