Merge pull request #877 from paparazzi/airspeed_tuning

[nav_airspeed] tune navigation airspeeds for diffent phases of the FP

conf/airframes/examples/microjet.xml

@@ -204,6 +204,7 @@
     <load name="nav_vertical_raster.xml"/>
     <load name="nav_bungee_takeoff.xml"/>
     <load name="infrared_adc.xml"/>
+    <load name="tune_airspeed.xml"/>
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
     </load>

conf/modules/tune_airspeed.xml

@@ -0,0 +1,35 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav">
+  <doc>
+    <description>NAV AIRSPEED.
+      Navigation Airspeeds to be called from the flightplan.
+      The included settings allow tuning of your different airspeeds
+      In your flightplans you call the airspeeds with
+      set var=v_ctl_auto_airspeed_setpoint value=nav_airspeed_nominal_setting
+      set var=v_ctl_auto_airspeed_setpoint value=nav_airspeed_tracking_setting
+      set var=v_ctl_auto_airspeed_setpoint value=nav_airspeed_landing_setting
+      attitude pitch=DegOfRad(nav_takeoff_pitch_setting) ...
+    </description>
+    <define name="NOMINAL_AIRSPEED" value="15" description="m/s (required))"/>
+    <define name="TRACKING_AIRSPEED" value="20" description="m/s (default: (1.25f * NOMINAL_AIRSPEED))"/>
+    <define name="LANDING_AIRSPEED" value="12" description="m/s (default: (0.8f * NOMINAL_AIRSPEED)"/>
+    </doc>
+  <settings>
+    <dl_settings name="control">
+      <dl_settings name="airspeed">
+        <dl_setting max="50" min="5" step="0.5" var="nav_airspeed_nominal_setting" shortname="nominal"/>
+        <dl_setting max="50" min="5" step="0.5" var="nav_airspeed_tracking_setting" shortname="tracking"/>
+        <dl_setting max="50" min="5" step="0.5" var="nav_airspeed_landing_setting" shortname="landing"/>
+        <dl_setting max="80" min="-10" step="0.5" var="nav_takeoff_pitch_setting" shortname="takeoff_pitch" unit="rad" alt_unit="deg" />
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="nav_airspeed.h"/>
+  </header>
+  <makefile>
+    <file name="nav_airspeed.c"/>
+  </makefile>
+</module>
+

sw/airborne/modules/nav/nav_airspeed.c

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * 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.
+ *
+ */
+
+#include "nav_airspeed.h"
+#include "generated/airframe.h"
+
+#ifndef NOMINAL_AIRSPEED
+#error Please define NOMINAL_AIRSPEED in airframe file
+#endif
+
+#ifndef TRACKING_AIRSPEED
+#define TRACKING_AIRSPEED (1.25f * NOMINAL_AIRSPEED)
+#endif
+
+#ifndef LANDING_AIRSPEED
+#define LANDING_AIRSPEED  (0.8f * NOMINAL_AIRSPEED)
+#endif
+
+#ifndef TAKEOFF_PITCH_ANGLE
+#define TAKEOFF_PITCH_ANGLE 0
+#endif
+
+
+float nav_airspeed_nominal_setting = NOMINAL_AIRSPEED;
+float nav_airspeed_tracking_setting = TRACKING_AIRSPEED;
+float nav_airspeed_landing_setting = LANDING_AIRSPEED;
+
+float nav_takeoff_pitch_setting = TAKEOFF_PITCH_ANGLE;
+

sw/airborne/modules/nav/nav_airspeed.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2014 OpenUAS
+ *
+ * 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.
+ *
+ */
+
+/** \file nav_airspeed.h
+ *
+ * NAV Tunable standard airspeed settings to be called from the flight plan
+ */
+
+#ifndef NAV_AIRSPEED_H
+#define NAV_AIRSPEED_H
+
+#include "std.h"
+
+extern float nav_airspeed_nominal_setting;
+extern float nav_airspeed_tracking_setting;
+extern float nav_airspeed_landing_setting;
+extern float nav_takeoff_pitch_setting;
+#endif