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Remove the dependencies of 'nav_hybrid' from 'guidance_indi_hybrid'. (#…
…3160) * remove nav_hybrid dependency from guidance_indi_hybrid * removed NAV_MAX_SPEED definition from the testing airframe * removed dependency from max bank angle of guidance --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
<airframe name="hybrid_nav_test"> | ||
<description> | ||
Test for using the hybrid_nav module without dependecies from the guidance_indi module. | ||
</description> | ||
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<firmware name="rotorcraft"> | ||
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<target name="ap" board="px4fmu_5.0_chibios"> | ||
<configure name="FLASH_MODE" value="SWD"/> | ||
<configure name="PERIODIC_FREQUENCY" value="500"/> | ||
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<module name="imu" type="mpu6000"/> | ||
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<module name="mag" type="rm3100"> | ||
<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/> | ||
<define name="RM3100_CHAN_X_SIGN" value="+"/> | ||
<define name="RM3100_CHAN_Y_SIGN" value="-"/> | ||
<define name="RM3100_CHAN_Z_SIGN" value="-"/> | ||
<define name="RM3100_CHAN_X" value="0"/> | ||
<define name="RM3100_CHAN_Y" value="1"/> | ||
<define name="RM3100_CHAN_Z" value="2"/> | ||
<define name="MODULE_RM3100_SYNC_SEND" value="FALSE"/> | ||
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/> | ||
</module> | ||
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<module name="actuators" type="pwm"> | ||
</module> | ||
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<module name="gps" type="ublox"> | ||
<configure name="GPS_BAUD" value="B460800"/> | ||
<define name="USE_GPS_UBX_RTCM" value="TRUE"/> | ||
</module> | ||
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<module name="radio_control" type="sbus"> | ||
<configure name="SBUS_PORT" value="UART3"/> | ||
</module> | ||
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<module name="telemetry" type="transparent"> | ||
<configure name="MODEM_BAUD" value="B460800"/> | ||
</module> | ||
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<!-- Enable for onboard logging --> | ||
<module name="tlsf"/> | ||
<module name="pprzlog"/> | ||
<module name="logger" type="sd_chibios"/> | ||
<module name="flight_recorder"/> | ||
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</target> | ||
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<define name="USE_AIRSPEED" value="TRUE"/> | ||
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<!-- <module name="guidance" type="indi_hybrid"> | ||
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/> | ||
<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/> | ||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/> | ||
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/> | ||
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/> | ||
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/> | ||
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/> | ||
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> | ||
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/> | ||
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> | ||
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/> | ||
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/> | ||
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/> | ||
<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/> | ||
<define name="GUIDANCE_INDI_LIFTD_P50" value="6.0"/> | ||
<define name="GUIDANCE_INDI_LIFTD_P80" value="10.0"/> | ||
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.15"/> | ||
<define name="TRANSITION_MAX_OFFSET" value="10"/> | ||
</module> --> | ||
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<module name="nav_hybrid"> | ||
<configure name="NAV_HYBRID_POS_GAIN" value="1"/> | ||
</module> | ||
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<module name="stabilization" type="indi_simple"/> | ||
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<module name="ins" type="ekf2"> | ||
</module> | ||
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<module name="geo_mag"/> | ||
<module name="air_data"/> | ||
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</firmware> | ||
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<servos> | ||
</servos> | ||
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<commands> | ||
<axis name="ROLL" failsafe_value="0"/> | ||
<axis name="PITCH" failsafe_value="0"/> | ||
<axis name="YAW" failsafe_value="0"/> | ||
<axis name="THRUST" failsafe_value="0"/> | ||
<axis name="RADIO_TH_HOLD" failsafe_value="-9600"/> | ||
</commands> | ||
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<rc_commands> | ||
<set command="THRUST" value="@THROTTLE"/> | ||
<set command="ROLL" value="@YAW"/> | ||
<set command="PITCH" value="@PITCH/2"/> | ||
<set command="YAW" value="-@ROLL/4"/> | ||
</rc_commands> | ||
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<command_laws> | ||
</command_laws> | ||
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<section name="IMU" prefix="IMU_"> | ||
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<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-9,-6,-4}, .scale={{38883,41480,36505},{3968,4241,3726}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-33,-9,11}, .scale={{36893,53565,3365},{7544,10964,689}}}}"/> | ||
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<!-- Calibrated at Valkenburg the 20-07-2023 --> | ||
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={9,-131,25}, .scale={{20269,20901,3230},{35294,37646,5847}}}}"/> | ||
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</section> | ||
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<section name="AHRS" prefix="AHRS_"> | ||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module --> | ||
<!-- Delft --> | ||
<define name="H_X" value="0.3892503"/> | ||
<define name="H_Y" value="0.0017972"/> | ||
<define name="H_Z" value="0.9211303"/> | ||
</section> | ||
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> | ||
<define name="SP_MAX_PHI" value="40." unit="deg"/> | ||
<define name="SP_MAX_THETA" value="40." unit="deg"/> | ||
<define name="SP_MAX_R" value="150." unit="deg/s"/> | ||
<define name="DEADBAND_R" value="200"/> | ||
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/> | ||
</section> | ||
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_"> | ||
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<!-- control effectiveness (hover) [conventional + yaw tilting] --> | ||
<define name="G1_P" value="0.004"/> | ||
<define name="G1_Q" value="0.01"/> | ||
<define name="G1_R" value="0.001"/> | ||
<define name="G2_R" value="0.00015"/> | ||
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<!-- control effectiveness (forward) --> | ||
<define name="FORWARD_G1_P" value="0.0020"/> | ||
<define name="FORWARD_G1_Q" value="0.0077"/> | ||
<define name="FORWARD_G1_R" value="0.004"/> | ||
<!-- reference acceleration for attitude control --> | ||
<define name="REF_ERR_P" value="60.0"/> | ||
<define name="REF_ERR_Q" value="60.0"/> | ||
<define name="REF_ERR_R" value="44.0"/> | ||
<define name="REF_RATE_P" value="6.5"/> | ||
<define name="REF_RATE_Q" value="6.5"/> | ||
<define name="REF_RATE_R" value="5.4"/> | ||
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<!--Maxium yaw rate, to avoid instability--> | ||
<define name="MAX_R" value="120.0" unit="deg/s"/> | ||
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<!-- Maximum rate setpoint in rate control mode --> | ||
<define name="MAX_RATE" value="3.0" unit="rad/s"/> | ||
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<!-- second order filter parameters --> | ||
<define name="FILT_CUTOFF" value="1.5"/> | ||
<define name="FILT_CUTOFF_RDOT" value="0.5"/> | ||
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/> | ||
<define name="FILT_CUTOFF_R" value="4.0"/> | ||
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<!-- first order actuator dynamics --> | ||
<define name="ACT_DYN_P" value="0.047"/> | ||
<define name="ACT_DYN_Q" value="0.047"/> | ||
<define name="ACT_DYN_R" value="0.047"/> | ||
<define name="ACT_DYN_B" value="0.047"/> | ||
<define name="ACT_DYN_P" value="0.047"/> | ||
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<!-- Adaptive Learning Rate --> | ||
<define name="USE_ADAPTIVE" value="FALSE"/> | ||
<define name="ADAPTIVE_MU" value="0.0001"/> | ||
</section> | ||
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | ||
<define name="HOVER_KP" value="310"/> | ||
<define name="HOVER_KD" value="130"/> | ||
<define name="HOVER_KI" value="10"/> | ||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/> | ||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/> | ||
</section> | ||
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
<define name="MAX_BANK" value="30" unit="deg"/> | ||
<define name="USE_SPEED_REF" value="TRUE"/> | ||
<define name="PGAIN" value="60"/> | ||
<define name="DGAIN" value="100"/> | ||
<define name="AGAIN" value="0"/> | ||
<define name="IGAIN" value="20"/> | ||
</section> | ||
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<section name="AUTOPILOT"> | ||
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/> | ||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_DIRECT"/> | ||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/> | ||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/> | ||
</section> | ||
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<section name="BAT"> | ||
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 0.76* adc)"/> | ||
<define name="BAT_NB_CELLS" value="4"/> | ||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/> | ||
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="14.0" unit="V"/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0" unit="V"/> | ||
</section> | ||
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<section name="MISC"> | ||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/> | ||
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<define name="NAV_CLIMB_VSPEED" value="3.5"/> | ||
<define name="NAV_DESCEND_VSPEED" value="-0.5"/> | ||
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/> | ||
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<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/> | ||
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/> | ||
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/> | ||
<define name="RC_LOST_MODE" value="AP_MODE_NAV"/> | ||
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<define name="FAILSAFE_HOME_RADIUS" value="600" unit="m"/> | ||
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</section> | ||
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<section name="AIR_DATA" prefix="AIR_DATA_"> | ||
<define name="CALC_AIRSPEED" value="TRUE"/> | ||
<define name="CALC_TAS_FACTOR" value="FALSE"/> | ||
<define name="CALC_AMSL_BARO" value="TRUE"/> | ||
</section> | ||
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<section name="GCS"> | ||
<define name="SPEECH_NAME" value="OverDone"/> | ||
<define name="AC_ICON" value="flyingwing"/> | ||
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/> | ||
<define name="ALT_SHIFT_PLUS" value="1"/> | ||
<define name="ALT_SHIFT_MINUS" value="-1"/> | ||
</section> | ||
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</airframe> |
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