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https://github.com/paparazzi/paparazzi.git
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74f8b74624
* First shot towards a separate HITL target * Changes in HITL - still doesn't compile * Added makefile selection * HITL target works for fixedwing and rotorcraft - still needs cleanup and TLC * Removed info messages from compilation process
74 lines
6.3 KiB
XML
74 lines
6.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_float_euler" dir="stabilization">
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<doc>
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<description>
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Stabilization controller for rotorcraft using float euler implementation
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</description>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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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="SP_MAX_R" value="90." description="max setpoint for yaw rate" unit="deg/s"/>
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<define name="DEADBAND_R" value="250" description="deadband on yaw rate input"/>
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<define name="REF_OMEGA_P" value="400" description="reference generator omega param on roll rate" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9" description="reference generator zeta param on roll rate"/>
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<define name="REF_MAX_P" value="300." description="reference generator max roll rate" unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" description="reference generator max roll acceleration"/>
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<define name="REF_OMEGA_Q" value="400" description="reference generator omega param on pitch rate" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9" description="reference generator zeta param on pitch rate"/>
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<define name="REF_MAX_Q" value="300." description="reference generator max pitch rate" unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" description="reference generator max pitch acceleration"/>
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<define name="REF_OMEGA_R" value="250" description="reference generator omega param on yaw rate" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9" description="reference generator zeta param on yaw rate"/>
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<define name="REF_MAX_R" value="180." description="reference generator max yaw rate" unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" description="reference generator max yaw acceleration"/>
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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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<define name="PSI_PGAIN" value="380" description="feedback yaw P gain"/>
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<define name="PSI_DGAIN" value="320" description="feedback yaw D gain"/>
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<define name="PSI_IGAIN" value="100" description="feedback yaw I gain"/>
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<define name="PHI_DDGAIN" value="300" description="feedforward roll acceleration gain"/>
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<define name="THETA_DDGAIN" value="300" description="feedforward pitch acceleration gain"/>
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<define name="PSI_DDGAIN" value="300" description="feedforward yaw acceleration 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="stabilization_gains.p.x" min="1" step="1" max="8000" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude"/>
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<dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.rates_d.x" min="0" step="1" max="500" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D" persistent="true"/>
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<dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.i.y" min="0" step="1" max="800" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.rates_d.y" min="0" step="1" max="500" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D" persistent="true"/>
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<dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="1000" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.p.z" min="1" step="1" max="8000" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.i.z" min="0" step="1" max="400" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN" persistent="true"/>
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<dl_setting var="stabilization_gains.rates_d.z" min="0" step="1" max="500" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D" persistent="true"/>
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<dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN" 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_attitude.h"/>
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<file name="stabilization_attitude_euler_float.h"/>
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</header>
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<init fun="stabilization_attitude_init()"/>
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<makefile target="ap|nps|hitl" firmware="rotorcraft">
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<file name="stabilization_attitude_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="stabilization_attitude_ref_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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<define name="STABILIZATION_ATTITUDE_TYPE_FLOAT"/>
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<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_euler_float.h" type="string"/>
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</makefile>
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</module>
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