paparazzi/conf/modules/stabilization_indi.xml

<!DOCTYPE module SYSTEM "module.dtd">

<module name="stabilization_indi" dir="stabilization">
  <doc>
    <description>
      Full INDI stabilization controller for rotorcraft
    </description>
    <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
      <define name="SP_MAX_PHI"   value="45." description="max setpoint for roll angle" unit="deg"/>
      <define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
      <define name="SP_MAX_R"     value="90." description="max setpoint for yaw rate" unit="deg/s"/>
      <define name="DEADBAND_R"   value="250" description="deadband on yaw rate input"/>
    </section>
    <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
      <define name="REF_OMEGA_P"  value="400" description="reference generator omega param on roll rate" unit="deg/s"/>
      <define name="REF_ZETA_P"   value="0.9" description="reference generator zeta param on roll rate"/>
      <define name="REF_MAX_P"    value="300." description="reference generator max roll rate" unit="deg/s"/>
      <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" description="reference generator max roll acceleration"/>
      <define name="REF_OMEGA_Q"  value="400" description="reference generator omega param on pitch rate" unit="deg/s"/>
      <define name="REF_ZETA_Q"   value="0.9" description="reference generator zeta param on pitch rate"/>
      <define name="REF_MAX_Q"    value="300." description="reference generator max pitch rate" unit="deg/s"/>
      <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" description="reference generator max pitch acceleration"/>
      <define name="REF_OMEGA_R"  value="250" description="reference generator omega param on yaw rate" unit="deg/s"/>
      <define name="REF_ZETA_R"   value="0.9" description="reference generator zeta param on yaw rate"/>
      <define name="REF_MAX_R"    value="180." description="reference generator max yaw rate" unit="deg/s"/>
      <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" description="reference generator max yaw acceleration"/>
    </section>
    <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
      <define name="G1_P" value="0.0639" description="control effectiveness G1 gain on roll rate"/>
      <define name="G1_Q" value="0.0361" description="control effectiveness G1 gain on pitch rate"/>
      <define name="G1_R" value="0.0022" description="control effectiveness G1 gain on yaw rate"/>
      <define name="G2_R" value="0.1450" description="control effectiveness G2 gain on yaw rate"/>
      <define name="REF_ERR_P" value="600.0" description="reference acceleration"/>
      <define name="REF_ERR_Q" value="600.0" description="reference acceleration"/>
      <define name="REF_ERR_R" value="600.0" description="reference acceleration"/>
      <define name="REF_RATE_P" value="28.0" description="reference acceleration"/>
      <define name="REF_RATE_Q" value="28.0" description="reference acceleration"/>
      <define name="REF_RATE_R" value="28.0" description="reference acceleration"/>
      <define name="MAX_R" value="120.0" description="max yaw rate" unit="deg/s"/>
      <define name="FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
      <define name="ESTIMATION_FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
      <define name="ACT_DYN_P" value="0.1" description="first order actuator dynamics on roll rate"/>
      <define name="ACT_DYN_Q" value="0.1" description="first order actuator dynamics on pitch rate"/>
      <define name="ACT_DYN_R" value="0.1" description="first order actuator dynamics on yaw rate"/>
      <define name="USE_ADAPTIVE" value="FALSE|TRUE" description="enable adaptive gains"/>
      <define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="indi">
        <dl_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true"/>
        <dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
        <dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
        <dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
        <dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
        <dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
        <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <autoload name="stabilization" type="rotorcraft"/>
  <header>
    <file name="stabilization_indi.h"/>
  </header>
  <init fun="stabilization_indi_init()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="stabilization_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_quat_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_quat_transformations.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <define name="STABILIZATION_ATTITUDE_TYPE_INT"/>
    <define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization/stabilization_attitude_quat_indi.h" type="string"/>
    <define name="STABILIZATION_ATTITUDE_INDI_FULL" value="true"/>
  </makefile>
</module>