mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-19 02:22:21 +08:00
Gautier Hattenberger
41ae80a307
* [nps] add angle of attack and sideslip to NPS * [module] extra_dl can work with nps * [module] add sideslip sensor to aoa_pwm module and fix apogee board file * [module] add wind estimation module This module is an experimental wind estimation filter based on UKF that aims at estimating all 3 local wind components in real-time. It is based on ChibiOS as the algorithm runs in a dedicated thread. The algorithm itself is generated from a Matlab/Simulink model. * [tool] read Meso-NH meteo data and feed NPS with wind information * [module] remove nps target from extra_dl, uart not well supported on FW * [mesonh] remove unused UDP interface * [chibios] add compilation error message for wind estimator module
59 lines
3.6 KiB
XML
59 lines
3.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="AOA_pwm" dir="sensors">
|
|
<doc>
|
|
<description>
|
|
Angle of Attack sensor using PWM input
|
|
|
|
Driver for a PWM based angle of attack sensor
|
|
A second sensor can be defined for the sideslip angle
|
|
It is assumed that both sensors are the same, only sensitivity, offset and direction can differ.
|
|
|
|
Sensor example: US DIGITAL MA3-P12-125-B
|
|
</description>
|
|
<configure name="AOA_PWM_CHANNEL" value="PWM_INPUTX" description="Select PWM input channel for AOA sensor"/>
|
|
<define name="AOA_SENS" value="(2*3.14)/AOA_PWM_PERIOD" description="sensor sensitivity"/>
|
|
<define name="AOA_OFFSET" value="0." description="offset in radian that can be set from settings"/>
|
|
<define name="AOA_ANGLE_OFFSET" value="3.14" description="global offset in radian corresponding to the sensor mounting (default: 3.14)"/>
|
|
<define name="AOA_REVERSE" value="TRUE|FALSE" description="set to TRUE to reverse rotation direction"/>
|
|
<define name="AOA_PWM_PERIOD" value="4096" description="period in microsec (e.g. 4096 for 12 bits sensor)"/>
|
|
<define name="AOA_PWM_OFFSET" value="1" description="initial offset on the raw pwm signal if needed (default: 1usec)"/>
|
|
<define name="SEND_AOA" value="TRUE|FALSE" description="enable telemetry report (default: TRUE)"/>
|
|
<define name="LOG_AOA" value="TRUE|FALSE" description="enable logging on SD card (default: FALSE)"/>
|
|
<configure name="SSA_PWM_CHANNEL" value="PWM_INPUTX" description="Select PWM input channel for Sideslip sensor (optional)"/>
|
|
<define name="SSA_SENS" value="(2*3.14)/AOA_PWM_PERIOD" description="sensor sensitivity"/>
|
|
<define name="SSA_OFFSET" value="0." description="offset in radian that can be set from settings"/>
|
|
<define name="SSA_REVERSE" value="TRUE|FALSE" description="set to TRUE to reverse rotation direction"/>
|
|
</doc>
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings NAME="AOA">
|
|
<dl_setting MAX="1" MIN="0" STEP="1" VAR="aoa_send_type" shortname="send type" module="modules/sensors/aoa_pwm" values="AOA|SIDESLIP"/>
|
|
<dl_setting MAX="180" MIN="-180" STEP="0.1" VAR="aoa_pwm.offset" shortname="AOA_offset" module="modules/sensors/aoa_pwm" param="AOA_OFFSET" unit="rad" alt_unit="deg"/>
|
|
<dl_setting MAX="0.95" MIN="0" STEP="0.001" VAR="aoa_pwm.filter" shortname="AOA_filter" module="modules/sensors/aoa_pwm" param="AOA_FILTER"/>
|
|
<dl_setting MAX="180" MIN="-180" STEP="0.1" VAR="ssa_pwm.offset" shortname="SSA_offset" module="modules/sensors/aoa_pwm" param="SSA_OFFSET" unit="rad" alt_unit="deg"/>
|
|
<dl_setting MAX="0.95" MIN="0" STEP="0.001" VAR="ssa_pwm.filter" shortname="SSA_filter" module="modules/sensors/aoa_pwm" param="SSA_FILTER"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
|
|
<depends>pwm_meas</depends>
|
|
<header>
|
|
<file name="aoa_pwm.h" />
|
|
</header>
|
|
|
|
<init fun="aoa_pwm_init()" />
|
|
<periodic fun="aoa_pwm_update()" freq="20" />
|
|
|
|
<makefile target="ap">
|
|
<file name="aoa_pwm.c" />
|
|
<define name="AOA_PWM_CHANNEL" value="$(AOA_PWM_CHANNEL)" cond="ifdef AOA_PWM_CHANNEL" />
|
|
<define name="$(AOA_PWM_CHANNEL)_TICKS_PER_USEC" value="1" />
|
|
<define name="USE_$(AOA_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_LOW" />
|
|
<define name="SSA_PWM_CHANNEL" value="$(SSA_PWM_CHANNEL)" cond="ifdef SSA_PWM_CHANNEL" />
|
|
<define name="$(SSA_PWM_CHANNEL)_TICKS_PER_USEC" value="1" cond="ifdef SSA_PWM_CHANNEL" />
|
|
<define name="USE_$(SSA_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_LOW" cond="ifdef SSA_PWM_CHANNEL" />
|
|
<define name="USE_SIDESLIP" cond="ifdef SSA_PWM_CHANNEL" />
|
|
</makefile>
|
|
</module>
|