mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Deon Blaauw
f1f75e96b8
This pull request is for the guidance algorithms used to control hybrid drones like the Quadshot and MavShot. It supports autonomous waypoint navigation as well as "forward-flight". The code was flight tested in autonomous waypoint navigation mode, including autonomous landing (using sonar).
166 lines
6.8 KiB
XML
166 lines
6.8 KiB
XML
<?xml version="1.0"?>
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<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
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<telemetry>
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<process name="Main">
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<mode name="default" key_press="d">
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<message name="DL_VALUE" period="1.1"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_FP" period="0.25"/>
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<message name="ALIVE" period="2.1"/>
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<message name="INS_REF" period="5.1"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="WP_MOVED" period="1.3"/>
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<message name="ROTORCRAFT_CMD" period=".25"/>
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<message name="STAB_ATTITUDE_INDI" period=".5"/>
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<message name="INS" period=".5"/>
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<message name="ENERGY" period="2.5"/>
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<message name="DATALINK_REPORT" period="5.1"/>
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</mode>
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<mode name="ppm">
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<message name="ROTORCRAFT_CMD" period=".05"/>
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<message name="PPM" period="0.5"/>
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<message name="RC" period="0.5"/>
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<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
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<message name="ROTORCRAFT_STATUS" period="1"/>
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<message name="ACTUATORS_BEBOP" period="0.2"/>
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</mode>
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<mode name="raw_sensors">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="IMU_ACCEL_RAW" period=".05"/>
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<message name="IMU_GYRO_RAW" period=".05"/>
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<message name="IMU_MAG_RAW" period=".05"/>
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<message name="BARO_RAW" period=".1"/>
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</mode>
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<mode name="scaled_sensors">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="IMU_GYRO_SCALED" period=".075"/>
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<message name="IMU_ACCEL_SCALED" period=".075"/>
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<message name="IMU_MAG_SCALED" period=".1"/>
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</mode>
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<mode name="ahrs">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="FILTER_ALIGNER" period="2.2"/>
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<message name="FILTER" period=".5"/>
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<message name="GEO_MAG" period="5."/>
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<message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
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<!-- <message name="AHRS_QUAT_INT" period=".25"/> -->
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<message name="AHRS_EULER_INT" period=".1"/>
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<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
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</mode>
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<mode name="rate_loop">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="2.1"/>
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<message name="RATE_LOOP" period=".02"/>
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</mode>
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<mode name="attitude_setpoint_viz" key_press="v">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
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<message name="AHRS_REF_QUAT" period="0.05"/>
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</mode>
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<mode name="attitude_loop" key_press="a">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="STAB_ATTITUDE" period=".03"/>
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<message name="STAB_ATTITUDE_REF" period=".03"/>
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</mode>
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<mode name="vert_loop" key_press="v">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="DL_VALUE" period="0.5"/>
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<message name="ALIVE" period="0.9"/>
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<message name="VFF" period=".05"/>
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<message name="VERT_LOOP" period=".05"/>
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<message name="INS" period=".05"/>
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<message name="INS_REF" period="5.1"/>
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</mode>
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<mode name="vel_guidance" key_press="q">
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<message name="ALIVE" period="0.9"/>
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<message name="HYBRID_GUIDANCE" period="0.062"/>
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<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
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<message name="ROTORCRAFT_FP" period="0.8"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="INS_REF" period="5.1"/>
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<message name="WP_MOVED" period="1.3"/>
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<message name="GPS_INT" period="1.0"/>
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<message name="INS" period="1.0"/>
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</mode>
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<mode name="indi">
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<message name="ALIVE" period="0.9"/>
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<message name="STAB_ATTITUDE_INDI" period="0.062"/>
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<message name="ROTORCRAFT_FP" period="0.8"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="INS_REF" period="5.1"/>
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<message name="WP_MOVED" period="1.3"/>
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<message name="GPS_INT" period="1.0"/>
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<message name="INS" period="1.0"/>
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</mode>
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<mode name="h_loop" key_press="h">
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<message name="ALIVE" period="0.9"/>
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<message name="HOVER_LOOP" period="0.062"/>
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<message name="GUIDANCE_H_REF" period="0.062"/>
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<message name="STAB_ATTITUDE" period="0.4"/>
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<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
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<message name="ROTORCRAFT_FP" period="0.8"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
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<message name="INS_REF" period="5.1"/>
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<!-- HFF messages are only sent if USE_HFF -->
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<message name="HFF" period=".05"/>
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<message name="HFF_GPS" period=".03"/>
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<message name="HFF_DBG" period=".2"/>
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</mode>
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<mode name="aligner">
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<message name="ALIVE" period="0.9"/>
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<message name="FILTER_ALIGNER" period="0.02"/>
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</mode>
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<mode name="hs_att_roll">
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ALIVE" period="0.9"/>
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<message name="DL_VALUE" period="0.5"/>
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<!-- <message name="STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
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</mode>
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<mode name="tune_hover">
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<message name="DL_VALUE" period="1.1"/>
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<message name="ROTORCRAFT_STATUS" period="1.2"/>
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<message name="ALIVE" period="2.1"/>
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<message name="GUIDANCE_H_INT" period="0.05"/>
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<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>
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<!-- <message name="GPS_INT" period=".20"/> -->
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<!--<message name="INS2" period=".05"/>
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<message name="INS3" period=".20"/>-->
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<message name="INS_REF" period="5.1"/>
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</mode>
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</process>
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</telemetry>
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