mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
43 lines
2.3 KiB
XML
43 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="wind_estimator" dir="meteo">
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<doc>
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<description>
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Wind Estimator.
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Using an UKF filter generated by MATLAB running in a ChibiOS thread
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Original Simulink files available at https://github.com/enacuavlab/UKF_Wind_Estimation
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Requires:
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- IMU for inertial data (rates and accel)
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- GPS for ground speed vector
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- magnetometer for true heading
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- pitot for airspeed norm
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- angle of attack probe (better and faster estimate of vertical component
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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="wind">
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<dl_setting MAX="1" MIN="1" STEP="1" values="RESET" module="modules/meteo/wind_estimator" VAR="wind_estimator.reset" shortname="reset"/>
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<dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_gs" shortname="R_GS" handler="Set_R_GS"/>
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<dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_va" shortname="R_VA" handler="Set_R_VA"/>
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<dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_aoa" shortname="R_AOA" handler="Set_R_AOA"/>
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<dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_ssa" shortname="R_SSA" handler="Set_R_SSA"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va" shortname="Q_VA" handler="Set_Q_VA"/>
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<dl_setting MAX="0.01" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_wind" shortname="Q_WIND" handler="Set_Q_WIND"/>
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<dl_setting MAX="0.001" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va_scale" shortname="Q_VA_SCALE" handler="Set_Q_VA_SCALE"/>
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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="wind_estimator.h"/>
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</header>
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<init fun="wind_estimator_init()"/>
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<periodic fun="wind_estimator_periodic()" freq="10." autorun="TRUE"/>
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<event fun="wind_estimator_event()"/>
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<makefile target="ap|nps">
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<file name="wind_estimator.c"/>
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<file name="lib_ukf_wind_estimator/UKF_Wind_Estimator.c"/>
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</makefile>
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</module>
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