mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
42 lines
1.7 KiB
XML
42 lines
1.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="guidance_hybrid" dir="guidance" task="control">
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<doc>
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<description>
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Guidance controller for hybrid vehicles
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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="Hybrid Guidance">
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<dl_setting var="max_airspeed" MIN="4" STEP="1" MAX="160" module="guidance/guidance_hybrid"/>
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<dl_setting var="wind_gain" MIN="1" STEP="1" MAX="256"/>
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<dl_setting var="horizontal_speed_gain" MIN="1" STEP="1" MAX="15" shortname="hor_speed_div"/>
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<dl_setting var="max_turn_bank" MIN="10.0" STEP="1.0" MAX="60.0"/>
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<dl_setting var="turn_bank_gain" MIN="0.1" STEP="0.01" MAX="3.0"/>
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<dl_setting var="cruise_throttle" MIN="0" STEP="1" MAX="9600"/>
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<dl_setting var="fwd_speed_p_gain" MIN="0" STEP="1" MAX="9600"/>
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<dl_setting var="fwd_alt_thrust_gain" MIN="0.0" STEP="0.01" MAX="4.0"/>
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<dl_setting var="fwd_pid_div" MIN="0.01" STEP="0.01" MAX="10.0"/>
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<dl_setting var="fwd_nominal_pitch" MIN=".0" STEP="0.01" MAX="120.0"/>
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<dl_setting var="fwd_pitch_gain" MIN=".0" STEP="0.01" MAX="120.0"/>
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<dl_setting var="hover_p_gain" MIN="0" STEP="1" MAX="150"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>@navigation,guidance_pid_rotorcraft</depends>
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<provides>guidance,attitude_command</provides>
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</dep>
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<header>
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<file name="guidance_hybrid.h"/>
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</header>
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<init fun="guidance_hybrid_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="guidance_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
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<define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
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<define name="GUIDANCE_HYBRID_USE_AS_DEFAULT" value="TRUE"/>
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</makefile>
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</module>
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