mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Ewoud Smeur
6dcabb3a57
* update INDI tu use full control effecitvens matrix Instead of using commands (roll, pitch, yaw, thrust), give the controller direct control over all actuators. This allows for online individual actuator control effectiveness estimation and inversion, as well as better saturation handling. The INDI controller as it was previous is renamed to 'simple'. * Made INDI more flexible wrt number of actuators - 4x4 matrix inverse to accomodate the thrust axis as well - support for more actuators - cleanup of code * Change filters guidance indi to butterworth * Added body acceleration to state interface * Better adaptation and guidance thrust increment - Adaptation flexible wrt. number of actuators. - Added adaptation of the specific force effectiveness of the actuators. - Added connection to guidance INDI through ABI. The thrust increment is caclulated in guidance INDI and sent to the stabilization. * lower case variables * change filter of indi to butterworth * INDI fix array index & no declarations in for loop - Also added doxygen comments * Added actuators_pprz the array actuators is used to drive the servos, so a new array to store the command to the actuators in pprz scale is needed * Removed hardcoded scaling
99 lines
3.3 KiB
XML
99 lines
3.3 KiB
XML
<?xml version="1.0"?>
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<!DOCTYPE protocol SYSTEM "abi.dtd">
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<protocol>
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<msg_class name="airborne">
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<message name="BARO_ABS" id="0">
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<field name="pressure" type="float" unit="Pa"/>
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</message>
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<message name="BARO_DIFF" id="1">
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<field name="pressure" type="float" unit="Pa"/>
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</message>
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<message name="AGL" id="2">
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<field name="distance" type="float" unit="m"/>
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</message>
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<message name="TEMPERATURE" id="3">
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<field name="temp" type="float" unit="deg Celcius"/>
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</message>
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<message name="IMU_GYRO_INT32" id="4">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="gyro" type="struct Int32Rates *"/>
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</message>
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<message name="IMU_ACCEL_INT32" id="5">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="accel" type="struct Int32Vect3 *"/>
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</message>
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<message name="IMU_MAG_INT32" id="6">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="mag" type="struct Int32Vect3 *"/>
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</message>
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<message name="IMU_LOWPASSED" id="7">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="gyro" type="struct Int32Rates *"/>
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<field name="accel" type="struct Int32Vect3 *"/>
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<field name="mag" type="struct Int32Vect3 *"/>
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</message>
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<message name="BODY_TO_IMU_QUAT" id="8">
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<field name="q_b2i_f" type="struct FloatQuat *"/>
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</message>
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<message name="GEO_MAG" id="9">
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<field name="h" type="struct FloatVect3 *" unit="1.0"/>
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</message>
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<message name="GPS" id="10">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="gps_s" type="struct GpsState *"/>
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</message>
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<message name="OPTICAL_FLOW" id="11">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="flow_x" type="int16_t">Flow in x direction from the camera (in subpixels)</field>
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<field name="flow_y" type="int16_t">Flow in y direction from the camera (in subpixels)</field>
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<field name="flow_der_x" type="int16_t">The derotated flow calculation in the x direction (in subpixels)</field>
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<field name="flow_der_y" type="int16_t">The derotated flow calculation in the y direction (in subpixels)</field>
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<field name="quality" type="uint8_t"/>
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<field name="size_divergence" type="float">Divergence as determined with the size method (in 1/seconds)</field>
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<field name="dist" type="float">Distance to ground</field>
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</message>
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<message name="VELOCITY_ESTIMATE" id="12">
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<field name="stamp" type="uint32_t" unit="us"/>
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<field name="x" type="float" unit="m/s"/>
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<field name="y" type="float" unit="m/s"/>
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<field name="z" type="float" unit="m/s"/>
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<field name="noise" type="float"/>
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</message>
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<message name="RSSI" id="13">
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<field name="ac_id" type="uint8_t"/>
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<field name="source_strength" type="int8_t" unit="dB"/>
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<field name="rssi" type="int8_t" unit="dB"/>
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</message>
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<message name="AIRSPEED" id="14">
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<field name="eas" type="float" unit="m/s"/>
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</message>
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<message name="RPM" id="15">
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<field name="rpm" type="uint16_t *" unit="rpm"/>
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<field name="num_act" type="uint8_t"/>
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</message>
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<message name="THRUST" id="16">
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<field name="thrust_increment" type="float" unit="m/s^2"/>
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</message>
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</msg_class>
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</protocol>
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