mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
57 lines
3.9 KiB
XML
57 lines
3.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="guidance_basic" dir="guidance">
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<doc>
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<description>
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Legacy vertical control for fixedwing aircraft based on throttle (default) or pitch
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</description>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" description="nominal battery level" unit="volt"/>
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<define name="ALTITUDE_PGAIN" value="0.03" description="altitude loop P gain"/>
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<define name="ALTITUDE_MAX_CLIMB" value="2." description="max climb rate"/>
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32" description="nominal throttle for cruise flight"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25" description="min cruise throttle"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65" description="max cruise throttle"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" description="loiter trim" unit="pprz"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" description="dash trim" unit="pprz"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" description="feedforward throttle gain" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.01" description="feedback throttle P gain"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1" description="feedback throttle I gain"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" description="feedforward pitch gain"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" description="throttle slew rate limiter" unit="s"/>
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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 vert">
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<dl_settings name="auto_throttle">
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
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<strip_button name="Loiter" value="0.1" group="dash_loiter"/>
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<strip_button name="Cruise" value="0" group="dash_loiter"/>
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<strip_button name="Dash" value="1" group="dash_loiter"/>
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</dl_setting>
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<dl_setting MAX="15" MIN="-15" STEP="0.1" VAR="v_ctl_pitch_trim" shortname="pitch trim" param="V_CTL_PITCH_TRIM" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
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<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
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</dl_settings>
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<dl_settings name="auto_pitch">
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<dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
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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="guidance_v.h"/>
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</header>
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<init fun="v_ctl_init()"/>
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<makefile target="ap|sim|nps" firmware="fixedwing">
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<file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
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<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
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</makefile>
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</module>
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