[airframes] update setting defines

paparazzi · Sep 20, 2023 · 81c0b84 · 81c0b84
1 parent 33e622e
commit 81c0b84
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Showing 5 changed files with 38 additions and 16 deletions.
diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
@@ -92,10 +92,7 @@
       <configure name="MODEM_BAUD" value="B460800"/>
     </module>
 
-    <module name="approach_moving_target">
-      <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
-      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
-    </module>
+    <module name="approach_moving_target"/>
 
     <module name="ins"           type="ekf2">
       <define name="USE_INS_NAV_INIT" value="FALSE"/>
@@ -411,6 +408,14 @@
     <define name="IGAIN" value="20"/>
   </section>
 
+  <section name="AMT" prefix="APPROACH_MOVING_TARGET_">
+    <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
+    <define name="ERR_SLOWDOWN_GAIN" value="0.25" />
+    <define name="SLOPE" value="35.0"/>
+    <define name="DISTANCE" value="60.0"/>
+    <define name="SPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
     <define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>

diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
@@ -88,10 +88,7 @@
       <configure name="MODEM_BAUD" value="B460800"/>
     </module>
 
-    <module name="approach_moving_target">
-      <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
-      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
-    </module>
+    <module name="approach_moving_target"/>
 
     <module name="ins"           type="ekf2">
       <define name="USE_INS_NAV_INIT" value="FALSE"/>
@@ -378,6 +375,14 @@
     <define name="IGAIN" value="20"/>
   </section>
 
+  <section name="AMT" prefix="APPROACH_MOVING_TARGET_">
+    <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
+    <define name="ERR_SLOWDOWN_GAIN" value="0.25" />
+    <define name="SLOPE" value="35.0"/>
+    <define name="DISTANCE" value="60.0"/>
+    <define name="SPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
     <define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>

diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
@@ -88,10 +88,7 @@
       <configure name="MODEM_BAUD" value="B460800"/>
     </module>
 
-    <module name="approach_moving_target">
-      <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
-      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
-    </module>
+    <module name="approach_moving_target"/>
 
     <module name="ins"           type="ekf2">
       <define name="USE_INS_NAV_INIT" value="FALSE"/>
@@ -378,6 +375,14 @@
     <define name="IGAIN" value="20"/>
   </section>
 
+  <section name="AMT" prefix="APPROACH_MOVING_TARGET_">
+    <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
+    <define name="ERR_SLOWDOWN_GAIN" value="0.25" />
+    <define name="SLOPE" value="35.0"/>
+    <define name="DISTANCE" value="60.0"/>
+    <define name="SPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
     <define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>

diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
@@ -88,10 +88,7 @@
       <configure name="MODEM_BAUD" value="B460800"/>
     </module>
 
-    <module name="approach_moving_target">
-      <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
-      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
-    </module>
+    <module name="approach_moving_target"/>
 
     <module name="ins"           type="ekf2">
       <define name="USE_INS_NAV_INIT" value="FALSE"/>
@@ -378,6 +375,14 @@
     <define name="IGAIN" value="20"/>
   </section>
 
+  <section name="AMT" prefix="APPROACH_MOVING_TARGET_">
+    <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
+    <define name="ERR_SLOWDOWN_GAIN" value="0.25" />
+    <define name="SLOPE" value="35.0"/>
+    <define name="DISTANCE" value="60.0"/>
+    <define name="SPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
     <define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>

diff --git a/sw/airborne/modules/ctrl/approach_moving_target.c b/sw/airborne/modules/ctrl/approach_moving_target.c
@@ -23,6 +23,8 @@
  * Approach a moving target (e.g. ship)
  */
 
+#include "generated/airframe.h"
+
 #include "approach_moving_target.h"
 
 #include "generated/modules.h"