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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
ce7fe4c23f
Introducing several changes to the control stask for the stabilization: - new structures: stabilization, stab (att and/or rates) and thrust (vector) - more functional approach: stabilization receives the stab and thrust setpoints from guidance and fill command vector at the end - modes and sub-modes are redefined (split stab and guidance modes), some AP modes are removed (FLIP and MODULE) - RC read functions are removed and replaced by ABI bindings, one for each part (AP, stab, guidance_h, guidance_v) with dedicated functions - transition ratio (float in [0-1]) replace transition_percentage (int) - the AP_MODULE mode is replaced by generated autopilot - the ABI hack for guidance indi is not needed anymore - AP generator supports a new 'store' attribute to use return values of functions - cleaning of the stabilization API (for setter functions)
62 lines
4.2 KiB
XML
62 lines
4.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stabilization_heli_indi" dir="stabilization" task="control">
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<doc>
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<description>
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INDI stabilization controller for helicopters
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</description>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<define name="SP_MAX_PHI" value="45." description="max setpoint for roll angle" unit="deg"/>
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<define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
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<define name="SP_MAX_R" value="90." description="max setpoint for yaw rate" unit="deg/s"/>
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<define name="DEADBAND_R" value="250" description="deadband on yaw rate input"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<define name="REF_OMEGA_P" value="400" description="reference generator omega param on roll rate" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9" description="reference generator zeta param on roll rate"/>
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<define name="REF_MAX_P" value="300." description="reference generator max roll rate" unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" description="reference generator max roll acceleration"/>
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<define name="REF_OMEGA_Q" value="400" description="reference generator omega param on pitch rate" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9" description="reference generator zeta param on pitch rate"/>
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<define name="REF_MAX_Q" value="300." description="reference generator max pitch rate" unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" description="reference generator max pitch acceleration"/>
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<define name="REF_OMEGA_R" value="250" description="reference generator omega param on yaw rate" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9" description="reference generator zeta param on yaw rate"/>
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<define name="REF_MAX_R" value="180." description="reference generator max yaw rate" unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" description="reference generator max yaw acceleration"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<define name="G1_P" value="0.0639" description="control effectiveness G1 gain on roll rate"/>
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<define name="G1_Q" value="0.0361" description="control effectiveness G1 gain on pitch rate"/>
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<define name="G1_R" value="0.0022" description="control effectiveness G1 gain on yaw rate"/>
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<define name="G2_R" value="0.1450" description="control effectiveness G2 gain on yaw rate"/>
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<define name="REF_ERR_P" value="600.0" description="reference acceleration"/>
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<define name="REF_ERR_Q" value="600.0" description="reference acceleration"/>
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<define name="REF_ERR_R" value="600.0" description="reference acceleration"/>
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<define name="REF_RATE_P" value="28.0" description="reference acceleration"/>
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<define name="REF_RATE_Q" value="28.0" description="reference acceleration"/>
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<define name="REF_RATE_R" value="28.0" description="reference acceleration"/>
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<define name="MAX_R" value="120.0" description="max yaw rate" unit="deg/s"/>
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<define name="FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
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<define name="ACT_DYN_P" value="0.1" description="first order actuator dynamics on roll rate"/>
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<define name="ACT_DYN_Q" value="0.1" description="first order actuator dynamics on pitch rate"/>
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<define name="ACT_DYN_R" value="0.1" description="first order actuator dynamics on yaw rate"/>
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<define name="USE_ADAPTIVE" value="FALSE|TRUE" description="enable adaptive gains"/>
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<define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
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</section>
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</doc>
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<dep>
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<depends>stabilization_rotorcraft,@attitude_command</depends>
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<provides>commands</provides>
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</dep>
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<header>
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<file name="stabilization_attitude_heli_indi.h"/>
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</header>
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<init fun="stabilization_attitude_heli_indi_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="stabilization_attitude_heli_indi.c" dir="$(SRC_FIRMWARE)/stabilization"/>
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</makefile>
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</module>
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