mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
28ef30ed80
This is a complete rework of the navigation for rotorcraft with the key features: - all nav functions and interface in float - nav function are registered (decoupling between nav API and implementation of standard pattern) - submodes to specify if setpoint is a position (legacy), speed or accel (better integration of algorithms like GVF) - guidance (H and V) is reorganized with default function to implement (run_pos, run_speed, run_accel) - guidance control (the old default PID) is separated from the guidance logic --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
34 lines
1.0 KiB
XML
34 lines
1.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_hybrid" dir="nav" task="control">
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<doc>
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<description>
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Navigation patterns and flight plan handling for hybrid airframes
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</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="nav_hybrid">
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<dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0" shortname="nav_max_speed"/>
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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>nav_basic_rotorcraft,guidance_indi_hybrid</depends>
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</dep>
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<header>
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<file name="nav_rotorcraft_hybrid.h"/>
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</header>
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<init fun="nav_rotorcraft_hybrid_init()"/>
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<makefile target="ap|nps|hitl" firmware="rotorcraft">
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<file name="nav_rotorcraft_hybrid.c"/>
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<test firmware="rotorcraft">
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="15."/>
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<configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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