mirror of
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)
37 lines
1.5 KiB
XML
37 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="vertical_ctrl_module_demo" dir="ctrl">
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<doc>
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<description>
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Demo Vertical Control Module.
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Only for rotorcraft firmware.
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Example on how to reads the sonar and directly control the thrust.
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</description>
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<define name="VERTICAL_CTRL_MODULE_AGL_ID" value="ABI_BROADCAST" description="Sender id of the AGL (sonar) ABI message"/>
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<section name="VERTICAL_CTRL_MODULE" prefix="VERTICAL_CTRL_MODULE_">
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<define name="PGAIN" value="1.0" description="P gain on height error"/>
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<define name="IGAIN" value="0.01" description="I gain on summed height error"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="VertCtrlModDemo">
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<dl_setting var="v_ctrl.setpoint" min="0" step="0.01" max="10" module="ctrl/vertical_ctrl_module_demo" shortname="height sp"/>
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<dl_setting var="v_ctrl.pgain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="pgain" param="VERTICAL_CTRL_MODULE_PGAIN"/>
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<dl_setting var="v_ctrl.igain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="igain" param="VERTICAL_CTRL_MODULE_IGAIN"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="vertical_ctrl_module_demo.h"/>
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</header>
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<init fun="vertical_ctrl_module_init()"/>
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<makefile>
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<file name="vertical_ctrl_module_demo.c"/>
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<test firmware="rotorcraft"/>
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</makefile>
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</module>
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