mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
77 lines
5.7 KiB
XML
77 lines
5.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_adaptive" dir="stabilization">
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<doc>
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<description>
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Adaptive attitude and lateral (heading) control for fixedwing aircraft.
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Mostly based on PID and optional reference generators and feedforward gains.
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An experimental adaptive filter is also included to estimate some parameters, but should not be used for normal operation at the moment.
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</description>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.0" description="feedback heading P gain"/>
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<define name="COURSE_DGAIN" value="0.3" description="feedback heading D gain"/>
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<define name="ROLL_MAX_SETPOINT" value="45." description="max roll setpoint" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." description="max pitch up setpoint" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." description="max pitch down setpoint" unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="7500" description="feedback roll P gain"/>
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<define name="ROLL_RATE_GAIN" value="1500" description="feedback roll rate P gain (roll D gain)"/>
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<define name="ROLL_IGAIN" value="100." description="feedback roll I gain"/>
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<define name="ROLL_KFFA" value="0" description="feedforward roll acceleration gain"/>
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<define name="ROLL_KFFD" value="0" description="feedforward roll rate gain"/>
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<define name="PITCH_PGAIN" value="12000." description="feedback pitch P gain"/>
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<define name="PITCH_DGAIN" value="1.5" description="feedback pitch D gain"/>
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<define name="PITCH_IGAIN" value="400" description="feedback pitch I gain"/>
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<define name="PITCH_KFFA" value="0." description="feedforward pitch acceleration gain"/>
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<define name="PITCH_KFFD" value="0." description="feedforward pitch rate gain"/>
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<define name="PITCH_OF_ROLL" value="1." description="feedforward pitch of roll coupling" unit="deg"/>
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<define name="AILERON_OF_THROTTLE" value="0.0" description="feedforward roll of throttle coupling"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="control horiz">
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<dl_settings NAME="trim">
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<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
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<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
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<dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
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</dl_settings>
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<dl_settings NAME="attitude">
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<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain" module="stabilization/stabilization_adaptive"/>
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<dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="50000" MIN="0" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain" module="stabilization/stabilization_adaptive"/>
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<dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="stabilization/stabilization_attitude"/>
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<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>
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<dl_setting MAX="60" MIN="0" STEP="1." VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
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</dl_settings>
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<dl_settings NAME="feedforward">
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
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<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
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</dl_settings>
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<dl_settings name="course">
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<dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
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<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
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<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
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<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="stabilization_attitude.h"/>
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<file name="stabilization_adaptive.h"/>
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</header>
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<init fun="h_ctl_init()"/>
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<makefile target="ap|sim|nps" firmware="fixedwing">
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<file name="stabilization_adaptive.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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</makefile>
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</module>
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