mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Tomaso Maria Luigi De Ponti
58 lines
4.3 KiB
XML
58 lines
4.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="oneloop_andi" dir="oneloop" task="control">
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<doc>
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<description>One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="oneloop">
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<dl_setting var="max_as" min="7" step="1" max="19" shortname="max_airspeed"/>
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<dl_setting var="temp_pitch" min="0" step="1" max="9600" shortname="temp_pitch"/>
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<dl_setting var="k_as" min="1.0" step="0.001" max="10" shortname="k_as"/>
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<dl_setting var="ctrl_off" min="0" step="1" max="1" values="OFF|ON" shortname="ctrl_off"/>
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<dl_setting var="chirp_on" min="0" step="1" max="1" values="OFF|ON" shortname="chirp_on"/>
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<dl_setting var="chirp_axis" min="0" step="1" max="3" shortname="chirp_axis"/>
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<dl_setting var="f0_chirp" min="0.01" step="0.001" max="10" shortname="f0_chirp"/>
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<dl_setting var="f1_chirp" min="0.01" step="0.001" max="10" shortname="f1_chirp"/>
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<dl_setting var="t_chirp" min="0.01" step="0.001" max="60" shortname="t_chirp"/>
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<dl_setting var="A_chirp" min="0.01" step="0.001" max="10" shortname="A_chirp"/>
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<dl_setting var="heading_manual" min="0" step="1" max="1" values="OFF|ON" shortname="take_heading"/>
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<dl_setting var="yaw_stick_in_auto" min="0" step="1" max="1" values="OFF|ON" shortname="yaw_stick_on"/>
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<dl_setting var="fwd_sideslip_gain" min="0.01" step="0.001" max="20.0" shortname="fwd_sideslip_gain"/>
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<dl_setting var="psi_des_deg" min="-180.0" step="0.1" max="180.0" shortname="psi_des"/>
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<dl_setting var="p_att_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_att_e_omega_n"/>
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<dl_setting var="p_att_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_att_e_zeta"/>
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<dl_setting var="p_att_rm.omega_n" min="0.1" step="0.001" max="70.0" shortname="p_att_rm_omega_n"/>
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<dl_setting var="p_att_rm.zeta" min="0.1" step="0.001" max="1.0" shortname="p_att_rm_zeta"/>
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<dl_setting var="p_att_rm.p3" min="0.1" step="0.001" max="70.0" shortname="p_att_rm_p3"/>
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<dl_setting var="p_head_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_head_e_omega_n"/>
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<dl_setting var="p_head_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_head_e_zeta"/>
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<dl_setting var="p_head_rm.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_head_rm_omega_n"/>
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<dl_setting var="p_head_rm.zeta" min="0.1" step="0.001" max="1.0" shortname="p_head_rm_zeta"/>
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<dl_setting var="p_pos_e.omega_n" min="0.1" step="0.001" max="70.0" shortname="p_pos_e_omega_n"/>
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<dl_setting var="p_pos_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_pos_e_zeta"/>
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<dl_setting var="p_pos_e.p3" min="0.1" step="0.001" max="70.0" shortname="p_pos_e_p3"/>
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<dl_setting var="p_pos_rm.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_pos_rm_omega_n"/>
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<dl_setting var="p_pos_rm.zeta" min="0.1" step="0.001" max="1.0" shortname="p_pos_rm_zeta"/>
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<dl_setting var="p_alt_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_alt_e_omega_n"/>
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<dl_setting var="p_alt_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_alt_e_zeta"/>
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<dl_setting var="p_alt_rm.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_alt_rm_omega_n"/>
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<dl_setting var="p_alt_rm.zeta" min="0.1" step="0.001" max="1.0" shortname="p_alt_rm_zeta"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>stabilization_rotorcraft,@attitude_command,wls</depends>
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<provides>commands</provides>
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</dep>
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<header>
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<file name="oneloop_andi.h"/>
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</header>
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<init fun="oneloop_andi_init()"/>
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<makefile target="ap|nps" firmware="rotorcraft">
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<file name="oneloop_andi.c" dir="$(SRC_FIRMWARE)/oneloop"/>
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<configure name="ANDI_OUTPUTS" default="6"/>
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<define name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
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</makefile>
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</module>
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