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* [nps] add angle of attack and sideslip to NPS * [module] extra_dl can work with nps * [module] add sideslip sensor to aoa_pwm module and fix apogee board file * [module] add wind estimation module This module is an experimental wind estimation filter based on UKF that aims at estimating all 3 local wind components in real-time. It is based on ChibiOS as the algorithm runs in a dedicated thread. The algorithm itself is generated from a Matlab/Simulink model. * [tool] read Meso-NH meteo data and feed NPS with wind information * [module] remove nps target from extra_dl, uart not well supported on FW * [mesonh] remove unused UDP interface * [chibios] add compilation error message for wind estimator module
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| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="wind_estimator" dir="meteo"> | ||
| <doc> | ||
| <description> | ||
| Wind Estimator. | ||
| Using an UKF filter generated by MATLAB running in a CHibiOS thread | ||
| Requires: | ||
| - IMU for inertial data (rates and accel) | ||
| - GPS for ground speed vector | ||
| - magnetometer for true heading | ||
| - pitot for airspeed norm | ||
| - angle of attack probe (better and faster estimate of vertical component | ||
| </description> | ||
| </doc> | ||
| <settings> | ||
| <dl_settings> | ||
| <dl_settings name="wind"> | ||
| <dl_setting MAX="1" MIN="1" STEP="1" values="RESET" module="modules/meteo/wind_estimator" VAR="wind_estimator.reset" shortname="reset"/> | ||
| <dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_gs" shortname="R_GS" handler="Set_R_GS"/> | ||
| <dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_va" shortname="R_VA" handler="Set_R_VA"/> | ||
| <dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_aoa" shortname="R_AOA" handler="Set_R_AOA"/> | ||
| <dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_ssa" shortname="R_SSA" handler="Set_R_SSA"/> | ||
| <dl_setting MAX="1." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va" shortname="Q_VA" handler="Set_Q_VA"/> | ||
| <dl_setting MAX="0.01" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_wind" shortname="Q_WIND" handler="Set_Q_WIND"/> | ||
| <dl_setting MAX="0.001" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va_scale" shortname="Q_VA_SCALE" handler="Set_Q_VA_SCALE"/> | ||
| </dl_settings> | ||
| </dl_settings> | ||
| </settings> | ||
| <header> | ||
| <file name="wind_estimator.h"/> | ||
| </header> | ||
| <init fun="wind_estimator_init()"/> | ||
| <periodic fun="wind_estimator_periodic()" freq="10." autorun="TRUE"/> | ||
| <event fun="wind_estimator_event()"/> | ||
| <makefile target="ap|nps"> | ||
| <file name="wind_estimator.c"/> | ||
| <file name="lib_ukf_wind_estimator/UKF_Wind_Estimator.c"/> | ||
| </makefile> | ||
| </module> | ||
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| /* | ||
| * Copyright (C) 2016 Gautier Hattenberger | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| */ | ||
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| #ifndef NPS_SENSORS_PARAMS_H | ||
| #define NPS_SENSORS_PARAMS_H | ||
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| #include "generated/airframe.h" | ||
| #include "subsystems/imu.h" | ||
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| #define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI | ||
| #define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA | ||
| #define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI | ||
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| /* | ||
| * Accelerometer | ||
| */ | ||
| /* MPU60x0 has 16bit resolution */ | ||
| #define NPS_ACCEL_MIN -32767 | ||
| #define NPS_ACCEL_MAX 32767 | ||
| /* ms-2 */ | ||
| /* aka 2^10/ACCEL_X_SENS */ | ||
| #define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)) | ||
| #define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)) | ||
| #define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)) | ||
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| #define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL | ||
| #define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL | ||
| #define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL | ||
| /* m2s-4 */ | ||
| #define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 | ||
| #define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 | ||
| #define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 | ||
| /* ms-2 */ | ||
| #define NPS_ACCEL_BIAS_X 0 | ||
| #define NPS_ACCEL_BIAS_Y 0 | ||
| #define NPS_ACCEL_BIAS_Z 0 | ||
| /* s */ | ||
| #ifndef NPS_ACCEL_DT | ||
| #define NPS_ACCEL_DT (1./125.) | ||
| #endif | ||
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| /* | ||
| * Gyrometer | ||
| */ | ||
| /* MPU60x0 has 16 bit resolution */ | ||
| #define NPS_GYRO_MIN -32767 | ||
| #define NPS_GYRO_MAX 32767 | ||
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| /* 2^12/GYRO_X_SENS */ | ||
| #define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)) | ||
| #define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)) | ||
| #define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)) | ||
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| #define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL | ||
| #define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL | ||
| #define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL | ||
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| #define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.) | ||
| #define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.) | ||
| #define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.) | ||
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| #define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0) | ||
| #define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0) | ||
| #define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0) | ||
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| #define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5) | ||
| #define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5) | ||
| #define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5) | ||
| /* s */ | ||
| #ifndef NPS_GYRO_DT | ||
| #define NPS_GYRO_DT (1./125.) | ||
| #endif | ||
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| /* | ||
| * Magnetometer | ||
| */ | ||
| /* HMC5843 has 12 bit resolution */ | ||
| #define NPS_MAG_MIN -2047 | ||
| #define NPS_MAG_MAX 2047 | ||
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| #define NPS_MAG_IMU_TO_SENSOR_PHI 0. | ||
| #define NPS_MAG_IMU_TO_SENSOR_THETA 0. | ||
| #define NPS_MAG_IMU_TO_SENSOR_PSI 0. | ||
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| #define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)) | ||
| #define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)) | ||
| #define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)) | ||
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| #define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL | ||
| #define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL | ||
| #define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL | ||
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| #define NPS_MAG_NOISE_STD_DEV_X 2e-3 | ||
| #define NPS_MAG_NOISE_STD_DEV_Y 2e-3 | ||
| #define NPS_MAG_NOISE_STD_DEV_Z 2e-3 | ||
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| #define NPS_MAG_DT (1./60.) | ||
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| /* | ||
| * Barometer | ||
| */ | ||
| /* m */ | ||
| /* aka 2^8/INS_BARO_SENS */ | ||
| #define NPS_BARO_QNH 1013.25 | ||
| #define NPS_BARO_SENSITIVITY 4.0 | ||
| #define NPS_BARO_DT (1./5.) | ||
| #define NPS_BARO_NOISE_STD_DEV 5.e-2 | ||
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| /* | ||
| * GPS | ||
| */ | ||
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| #ifndef GPS_PERFECT | ||
| #define GPS_PERFECT 1 | ||
| #endif | ||
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| #if GPS_PERFECT | ||
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| #define NPS_GPS_SPEED_NOISE_STD_DEV 0. | ||
| #define NPS_GPS_SPEED_LATENCY 0. | ||
| #define NPS_GPS_POS_NOISE_STD_DEV 0.001 | ||
| #define NPS_GPS_POS_BIAS_INITIAL_X 0. | ||
| #define NPS_GPS_POS_BIAS_INITIAL_Y 0. | ||
| #define NPS_GPS_POS_BIAS_INITIAL_Z 0. | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. | ||
| #define NPS_GPS_POS_LATENCY 0. | ||
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| #else | ||
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| #define NPS_GPS_SPEED_NOISE_STD_DEV 0.5 | ||
| #define NPS_GPS_SPEED_LATENCY 0.2 | ||
| #define NPS_GPS_POS_NOISE_STD_DEV 2 | ||
| #define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 | ||
| #define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 | ||
| #define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 | ||
| #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 | ||
| #define NPS_GPS_POS_LATENCY 0.2 | ||
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| #endif /* GPS_PERFECT */ | ||
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| #define NPS_GPS_DT (1./5.) | ||
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| #endif /* NPS_SENSORS_PARAMS_H */ |
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