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OpenUAS
b4ba0dac47
* T4 actuators and T4 AOA now usable in Paparazzi master * Rename ACTUATORS_T4_UART_DEV to ACTUATORS_T4_UART_PORT since build failure on semaphore test gave: modules/actuators/actuators_t4_uart.c:194:19: error: ‘ACTUATORS_T4_PORT’ undeclared * Rename ACTUATORS_T4_UART_PORT to ACTUATORS_T4_PORT Wrongly named, FYI since for the future plans port could be as well CAN or I2C type no specific reference to UART device just plain ACTUATORS_T4_PORT
76 lines
5.3 KiB
XML
76 lines
5.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="aoa_t4" dir="sensors">
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<doc>
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<description>
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Angle of Attack (AOA) sensor using angle input from a modiefied hall servo connected to a T4 Actuators Board.
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For the hardware and software used to make your own T4 Actuators board, find all information here:
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https://github.com/tudelft/t4_actuators_board/
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To make it work, the motor of the servo needs to be removed, only the hall sensors is used for angle feedback.
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If the MOTOR is NOT REMOVED from the servo there will be to much friction and the sensor will NOT WORK properly.
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Budget wise it is a flexible solution for angle of attack sensor if one uses a T4 Actuators Board already.
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Aditionall a second servo can added to be assigned to fuction as a SideSlip angle (SSA) sensor.
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If SSA is added, it is assumed that both sensors are the same, offset and direction can be set to different values.
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A Servo modified for sensor use which works well is a Feetech STS3032. It is a 360 degree serial bus servo with hall sensor feedback.
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Simply add the "aoa_t4" module to your myname_airframe.xml file to be able to use this solution.
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Also for initial offset determination, enabeling the SYNC message is very helpfull. Just add the SYNC_SEND_AOA_T4 define.
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For a 3D design of a vane that can be 3D printed and mounted on the servo used, download it here:
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</description>
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<define name="AOA_T4_SERVO_ID" value="10" description="Set the Servo ID of servo to use as an Angle Of Attack(AOA) sensor."/>
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<define name="AOA_T4_ANGLE_OFFSET" value="3.14" description="How the sensor is physically mounted, a global offset in radian corresponding to the sensor mounting (default: 3.14)"/>
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<define name="AOA_T4_OFFSET" value="-0.123" description="Initial offset on the neutral angle value."/>
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<define name="AOA_T4_REVERSE" value="TRUE|FALSE" description="Set to TRUE to reverse AOA output rotation direction (sign)"/>
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<define name="AOA_T4_USE_FILTER" value="TRUE|FALSE" description="Filter the AOA angle sensor output to avoid to much angle fluctuation"/>
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<define name="AOA_T4_FILTER" value="0.08" description="If filtered is true, then set how much to filter the output"/>
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<define name="AOA_T4_SYNC_SEND" value="TRUE|FALSE" description="Enable telemetry report from AOA or SSA sensor, best set to TRUE to determine the neutral angle to set in offset"/>
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<define name="AOA_T4_USE_COMPENSATION" value="TRUE|FALSE" description="Compensate the output"/>
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<define name="USE_AOA" value="TRUE|FALSE" description="Enable AOA sensor values to the state (default: TRUE)"/>
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<define name="AOA_T4_COMP_A1" value="0.0" description=""/>
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<define name="AOA_T4_COMP_B1" value="0.0" description=""/>
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<define name="AOA_T4_COMP_A2" value="-0.34" description=""/>
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<define name="AOA_T4_COMP_B2" value="0.0" description=""/>
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<!-- Optionally if a SideSlip Angle(SSA) sensor is available -->
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<define name="SSA_T4_SERVO_ID" value="9" description="Set the Servo ID of servo to use as an SideSlip Angle(SSA) sensor"/>
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<define name="SSA_T4_ANGLE_OFFSET" value="3.14" description="How the sensor is physically mounted, a global offset in radian corresponding to the sensor mounting (default: 3.14)"/>
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<define name="SSA_T4_OFFSET" value="-0.456" description="Initial offset on the neutral angle value."/>
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<define name="SSA_T4_REVERSE" value="TRUE|FALSE" description="Set to TRUE to reverse AOA output rotation direction (sign)"/>
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<define name="SSA_T4_USE_FILTER" value="TRUE|FALSE" description="Filter the AOA angle sensor output to avoid to much angle fluctuation"/>
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<define name="SSA_T4_FILTER" value="0.15" description="If filtered is true, then set how much to filter the output"/>
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<define name="USE_SIDESLIP" value="TRUE|FALSE" description="Enable SSA sensor values into the state"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="AOA T4">
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<dl_setting var="aoa_send_type" min="0" max="1" step="1" shortname="Send AOA or SSA" module="modules/sensors/aoa_t4" values="AOA|SIDESLIP"/>
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<dl_setting var="aoa_t4.offset" min="-3.14" max="3.14" step="0.01" shortname="AOA Offset" module="modules/sensors/aoa_t4" param="AOA_OFFSET" unit="rad" alt_unit="deg"/>
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<dl_setting var="aoa_t4.filter" min="0.0" max="0.95" step="0.01" shortname="AOA Filter" module="modules/sensors/aoa_t4" param="AOA_FILTER"/>
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<dl_setting var="ssa_t4.offset" min="-3.14" max="3.14" step="0.01" shortname="SSA Offset" module="modules/sensors/aoa_t4" param="SSA_OFFSET" unit="rad" alt_unit="deg"/>
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<dl_setting var="ssa_t4.filter" min="0.0" max="0.95" step="0.01" shortname="SSA Filter" module="modules/sensors/aoa_t4" param="SSA_FILTER"/>
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<dl_setting var="aoa_t4_a1" min="-1" max="1" step="0.001" shortname="Comp A1" />
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<dl_setting var="aoa_t4_b1" min="-1" max="1" step="0.001" shortname="Comp B1" />
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<dl_setting var="aoa_t4_a2" min="-1" max="1" step="0.001" shortname="Comp A2" />
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<dl_setting var="aoa_t4_b2" min="-1" max="1" step="0.001" shortname="Comp B2" />
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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="aoa_t4.h"/>
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</header>
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<init fun="aoa_t4_init()"/>
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<periodic fun="aoa_t4_update()" freq="200."/>
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<makefile target="ap|sim|nps">
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<file name="aoa_t4.c"/>
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</makefile>
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</module>
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