mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Ewoud Smeur
1707c0059f
With this commit, you can only use indi rate, when you are using stabilization indi or indi_simple. Also fixing spelling of stabilization
45 lines
2.8 KiB
XML
45 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_rate" dir="stabilization">
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<doc>
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<description>
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Rate controller for rotorcraft
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</description>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="300" description="max roll rate setpoint" unit="deg/s"/>
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<define name="SP_MAX_Q" value="300" description="max pitch rate setpoint" unit="deg/s"/>
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<define name="SP_MAX_R" value="240" description="max yaw rate setpoint" unit="deg/s"/>
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<define name="DEADBAND_P" value="20" description="deadband on roll rate"/>
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<define name="DEADBAND_Q" value="20" description="deadband on pitch rate"/>
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<define name="DEADBAND_R" value="200" description="deadband on yaw rate"/>
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<define name="GAIN_P" value="1000" description="feedback P roll rate gain"/>
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<define name="GAIN_Q" value="1000" description="feedback P pitch rate gain"/>
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<define name="GAIN_R" value="800" description="feedback P yaw rate gain"/>
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<define name="IGAIN_P" value="75" description="feedback I roll rate gain"/>
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<define name="IGAIN_Q" value="75" description="feedback I pitch rate gain"/>
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<define name="IGAIN_R" value="50" description="feedback I yaw rate 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="Rate Loop">
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<dl_setting var="stabilization_rate_gain.p" min="1" step="1" max="1000" shortname="pgain p" param="STABILIZATION_RATE_GAIN_P" type="int32" persistent="true" module="stabilization/stabilization_rate"/>
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<dl_setting var="stabilization_rate_gain.q" min="1" step="1" max="1000" shortname="pgain q" param="STABILIZATION_RATE_GAIN_Q" type="int32" persistent="true"/>
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<dl_setting var="stabilization_rate_gain.r" min="1" step="1" max="1000" shortname="pgain r" param="STABILIZATION_RATE_GAIN_R" type="int32" persistent="true"/>
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<dl_setting var="stabilization_rate_igain.p" min="0" step="1" max="500" shortname="igain p" param="STABILIZATION_RATE_IGAIN_P" type="int32" persistent="true"/>
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<dl_setting var="stabilization_rate_igain.q" min="0" step="1" max="500" shortname="igain q" param="STABILIZATION_RATE_IGAIN_Q" type="int32" persistent="true"/>
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<dl_setting var="stabilization_rate_igain.r" min="0" step="1" max="500" shortname="igain r" param="STABILIZATION_RATE_IGAIN_R" type="int32" persistent="true"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<autoload name="stabilization" type="rotorcraft"/>
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<header>
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<file name="stabilization_rate.h"/>
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</header>
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<init fun="stabilization_rate_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="stabilization_rate.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<define name="USE_STABILIZATION_RATE"/>
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</makefile>
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</module>
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