mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
5b254269fc
* UAVCAN telemetry * [modules] Actuator feedback rewrite --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
40 lines
1.9 KiB
XML
40 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="heli_throttle_curve" dir="helicopter">
|
|
<doc>
|
|
<description>Throttle Curve Mixers</description>
|
|
<define name="THROTTLE_CURVE_RPM_FB_P" value="0" description="The RPM controller feeadback P gain of the PI controller"/>
|
|
<define name="THROTTLE_CURVE_RPM_FB_I" value="0" description="The RPM controller feeadback I gain of the PI controller"/>
|
|
<define name="THROTTLE_CURVE_RPM_INC_LIMIT" value="512" description="Amount of RPM the controller can increase or decrease per second"/>
|
|
<define name="THROTTLE_CURVE_ACT_FEEDBACK_ID" value="ABI_BROADCAST" description="The ABI sender ID to listen for RPM messages"/>
|
|
<define name="THROTTLE_CURVE_RPM_ACT" value="0" description="The RPM message motor index (generated from airframe.h)"/>
|
|
</doc>
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings NAME="ThrottleCurve">
|
|
<dl_setting var="throttle_curve.rpm_fb_p" min="0.00" step="0.005" max="100" shortname="rpm_fb_p" param="THROTTLE_CURVE_RPM_FB_P" />
|
|
<dl_setting var="throttle_curve.rpm_fb_i" min="0.00" step="0.005" max="100" shortname="rpm_fb_i" param="THROTTLE_CURVE_RPM_FB_I" />
|
|
<dl_setting var="throttle_curve.throttle_trim" min="-9600" step="0" max="9600" shortname="throttle_trim" />
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
<header>
|
|
<file name="throttle_curve.h"/>
|
|
</header>
|
|
<init fun="throttle_curve_init()"/>
|
|
<makefile target="ap">
|
|
<file name="throttle_curve.c"/>
|
|
<define name="USE_THROTTLE_CURVES" value="TRUE"/>
|
|
<test firmware="rotorcraft">
|
|
<define name="THROTTLE_CURVE_RPM_ACT" value="0"/>
|
|
<define name="THROTTLE_POINTS_NB" value="3"/>
|
|
<define name="THROTTLE_CURVES_NB" value="2"/>
|
|
<define name="THROTTLE_CURVES" value="{{0}}"/>
|
|
<define name="THROTTLE_CURVE_MODE_INIT" value="0"/>
|
|
<define name="RADIO_FMODE" value="0"/>
|
|
<define name="COMMAND_COLLECTIVE" value="0"/>
|
|
</test>
|
|
</makefile>
|
|
</module>
|
|
|