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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
37a86bb389
This PR allows to redefine the outer-loop for stabilization and guidance, and to specify the guidance model for something else than a quarotor (but still not an hybrid). Two use case are proposed: - replace the PD control of the outer-loop (still used by default) by and Hinfinity controller - parametrize the guidance for an hexa-copter with tilted motors, allowing to produce side force for lateral motion control.
36 lines
1.8 KiB
XML
36 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="guidance_indi_hinf" dir="guidance" task="control">
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<doc>
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<description>
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Hinfinity controller for INDI guidance outer loop
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</description>
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<section name="GUIDANCE_INDI_HINF" prefix="GUIDANCE_INDI_HINF_">
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<define name="Ap" value="x" description="proportional A coef (horizontal)"/>
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<define name="Bp" value="x" description="proportional B coef (horizontal)"/>
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<define name="Cp" value="x" description="proportional C coef (horizontal)"/>
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<define name="Dp" value="x" description="proportional D coef (horizontal)"/>
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<define name="Ad" value="x" description="derivative A coef (horizontal)"/>
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<define name="Bd" value="x" description="derivative B coef (horizontal)"/>
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<define name="Cd" value="x" description="derivative C coef (horizontal)"/>
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<define name="Dd" value="x" description="derivative D coef (horizontal)"/>
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<define name="Apz" value="x" description="proportional A coef (vertical)"/>
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<define name="Bpz" value="x" description="proportional B coef (vertical)"/>
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<define name="Cpz" value="x" description="proportional C coef (vertical)"/>
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<define name="Dpz" value="x" description="proportional D coef (vertical)"/>
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<define name="Adz" value="x" description="derivative A coef (vertical)"/>
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<define name="Bdz" value="x" description="derivative B coef (vertical)"/>
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<define name="Cdz" value="x" description="derivative C coef (vertical)"/>
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<define name="Ddz" value="x" description="derivative D coef (vertical)"/>
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</section>
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</doc>
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<dep>
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<depends>guidance_indi</depends>
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</dep>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="guidance_indi_hinf.c" dir="$(SRC_FIRMWARE)/guidance"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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