mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
4560320201
- gains should not depend on frequency - tune values accordingly for Ranger VTOL
43 lines
2.5 KiB
XML
43 lines
2.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="stabilization_plane_pid" dir="stabilization" task="control">
|
|
<doc>
|
|
<description>
|
|
Basic fixed-wing PID controller for rotorcraft firmware using float euler implementation
|
|
</description>
|
|
<section name="STABILIZATION_PLANE" prefix="STABILIZATION_PLANE_">
|
|
<define name="SP_MAX_PHI" value="45." description="max setpoint for roll angle" unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
|
|
<define name="PHI_PGAIN" value="400" description="feedback roll P gain"/>
|
|
<define name="PHI_DGAIN" value="300" description="feedback roll D gain"/>
|
|
<define name="PHI_IGAIN" value="100" description="feedback roll I gain"/>
|
|
<define name="THETA_PGAIN" value="400" description="feedback pitch P gain"/>
|
|
<define name="THETA_DGAIN" value="300" description="feedback pitch D gain"/>
|
|
<define name="THETA_IGAIN" value="100" description="feedback pitch I gain"/>
|
|
</section>
|
|
</doc>
|
|
<settings target="ap|nps">
|
|
<dl_settings>
|
|
<dl_settings NAME="Att Loop">
|
|
<dl_setting var="stab_plane_gains.p.x" min="1" step="1" max="15000" shortname="pgain phi" param="STABILIZATION_PLANE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude_plane_pid"/>
|
|
<dl_setting var="stab_plane_gains.i.x" min="0" step="1" max="4000" shortname="igain phi" param="STABILIZATION_PLANE_PHI_IGAIN" persistent="true"/>
|
|
<dl_setting var="stab_plane_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_PLANE_PHI_DGAIN" persistent="true"/>
|
|
<dl_setting var="stab_plane_gains.p.y" min="1" step="1" max="15000" shortname="pgain theta" param="STABILIZATION_PLANE_THETA_PGAIN" persistent="true"/>
|
|
<dl_setting var="stab_plane_gains.i.y" min="0" step="1" max="4000" shortname="igain theta" param="STABILIZATION_PLANE_THETA_IGAIN" persistent="true"/>
|
|
<dl_setting var="stab_plane_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_PLANE_THETA_DGAIN" persistent="true"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
<dep>
|
|
<depends>stabilization_rotorcraft,@attitude_command</depends>
|
|
<provides>commands</provides>
|
|
</dep>
|
|
<header>
|
|
<file name="stabilization_attitude_plane_pid.h"/>
|
|
</header>
|
|
<init fun="stabilization_attitude_plane_pid_init()"/>
|
|
<makefile target="ap|nps" firmware="rotorcraft">
|
|
<file name="stabilization_attitude_plane_pid.c" dir="$(SRC_FIRMWARE)/stabilization"/>
|
|
</makefile>
|
|
</module>
|