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conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,191 @@ | ||
| <!DOCTYPE autopilot SYSTEM "autopilot.dtd"> | ||
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| <autopilot name="Oneloop Autopilot Rotorcraft"> | ||
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| <state_machine name="ap" freq="PERIODIC_FREQUENCY" gcs_mode="true" settings_mode="true" settings_handler="autopilot_generated|SetModeHandler"> | ||
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| <includes> | ||
| <include name="generated/airframe.h"/> | ||
| <include name="autopilot.h"/> | ||
| <include name="autopilot_rc_helpers.h"/> | ||
| <include name="navigation.h"/> | ||
| <include name="guidance.h"/> | ||
| <include name="oneloop/oneloop_andi.h"/> | ||
| <include name="stabilization/stabilization_attitude.h"/> | ||
| <include name="modules/radio_control/radio_control.h"/> | ||
| <include name="modules/gps/gps.h"/> | ||
| <include name="modules/actuators/actuators.h"/> | ||
| <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" cond="ifndef MODE_MANUAL"/> | ||
| <define name="MODE_ONELOOP" value="AP_MODE_MODULE" cond="ifndef MODE_AUTO1"/> | ||
| <define name="MODE_AUTO2" value="AP_MODE_NAV" cond="ifndef MODE_AUTO2"/> | ||
| <define name="RCLost()" value="(radio_control.status == RC_REALLY_LOST)"/> | ||
| <define name="DLModeNav()" value="(autopilot_mode_auto2 == AP_MODE_NAV)"/> | ||
| <define name="DLModeGuided()" value="(autopilot_mode_auto2 == AP_MODE_GUIDED)"/> | ||
| <define name="DLModeModule()" value="(MODE_AUTO1 == AP_MODE_MODULE)"/> | ||
| <define name="DLModeAZH()" value="(MODE_AUTO1 == AP_MODE_ATTITUDE_Z_HOLD)"/> | ||
| <define name="ONELOOP_CONTROLLER" value="TRUE"/> | ||
| </includes> | ||
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| <settings> | ||
| <dl_setting var="autopilot.kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/> | ||
| <dl_setting var="autopilot_mode_auto2" min="2" step="1" max="3" module="autopilot" values="NAV|GUIDED"/> | ||
| </settings> | ||
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| <control_block name="set_commands"> | ||
| <call fun="SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight(), autopilot_get_motors_on())"/> | ||
| </control_block> | ||
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| <control_block name="attitude_loop"> | ||
| <call fun="stabilization_attitude_read_rc(autopilot_in_flight(), FALSE, FALSE)"/> | ||
| <call fun="stabilization_attitude_run(autopilot_in_flight())"/> | ||
| </control_block> | ||
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| <control_block name="throttle_direct"> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_set_z(stateGetPositionNed_i()->z)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/> | ||
| </control_block> | ||
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| <control_block name="altitude_loop"> | ||
| <call fun="gv_update_ref_from_z_sp(guidance_v.z_sp)"/> | ||
| <call fun="guidance_v.delta_t = guidance_v_run_pos(autopilot_in_flight(), &guidance_v)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = guidance_v.rc_delta_t"/> | ||
| </control_block> | ||
|
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| <exceptions> | ||
| <exception cond="nav.too_far_from_home" deroute="HOME"/> | ||
| <exception cond="kill_switch_is_on()" deroute="KILL"/> | ||
| </exceptions> | ||
|
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| <mode name="ATTITUDE_DIRECT" shortname="ATT"> | ||
| <select cond="RCMode0()"/> | ||
| <on_enter> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call_block name="attitude_loop"/> | ||
| <call_block name="throttle_direct"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="NAV"> | ||
| <select cond="RCMode2() && DLModeNav()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="oneloop_andi_enter(false, CTRL_INDI)"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="nav_periodic_task()"/> | ||
| <call fun="guidance_h_set_pos(nav.carrot.y, nav.carrot.x)"/> | ||
| <call fun="oneloop_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="GUIDED"> | ||
| <select cond="RCMode2() && DLModeGuided()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="guidance_h_hover_enter()"/> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| <call fun="guidance_v.mode = GUIDANCE_V_MODE_GUIDED"/> | ||
| <call fun="guidance_v_guided_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_guided_run(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_guided_run(autopilot_in_flight())"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="GpsIsLost() && autopilot_in_flight()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="ATTITUDE_Z_HOLD" shortname="A_ZH"> | ||
| <select cond="RCMode1() && DLModeAZH()"/> | ||
| <on_enter> | ||
| <call fun="guidance_h_hover_enter()"/> | ||
| <call fun="stabilization_attitude_enter()"/> | ||
| <call fun="guidance_v.mode = GUIDANCE_V_MODE_GUIDED"/> | ||
| <call fun="guidance_v_guided_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_periodic_task()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_guided_run(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_guided_run(autopilot_in_flight())"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="GpsIsLost() && autopilot_in_flight()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="MODULE" shortname="ONE"> | ||
| <select cond="RCMode1() && DLModeModule()" exception="HOME"/> | ||
| <on_enter> | ||
| <call fun="oneloop_andi_enter(false, CTRL_ANDI)"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="nav_periodic_task()"/> | ||
| <call fun="guidance_h_set_pos(nav.carrot.y, nav.carrot.x)"/> | ||
| <call fun="oneloop_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="RCLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <mode name="HOME"> | ||
| <on_enter> | ||
| <call fun="guidance_h_nav_enter()"/> | ||
| </on_enter> | ||
| <control freq="NAVIGATION_FREQUENCY"> | ||
| <call fun="nav_home()"/> | ||
| </control> | ||
| <control> | ||
| <call fun="guidance_v_read_rc()"/> | ||
| <call fun="guidance_v_thrust_adapt(autopilot_in_flight())"/> | ||
| <call fun="guidance_v_from_nav(autopilot_in_flight())"/> | ||
| <call fun="guidance_h_from_nav(autopilot_in_flight())"/> | ||
| </control> | ||
| <exception cond="GpsIsLost()" deroute="FAILSAFE"/> | ||
| </mode> | ||
|
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| <!-- Safe landing --> | ||
| <mode name="FAILSAFE" shortname="FAIL"> | ||
| <!-- Failsafe does not work needs to be fixed--> | ||
| <on_enter> | ||
| <call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)"/> | ||
| <call fun="guidance_v_set_z(SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED))"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="gv_update_ref_from_zd_sp(guidance_v.zd_sp, stateGetPositionNed_i()->z)"/> | ||
| <call fun="guidance_v_update_ref()"/> | ||
| <call fun="guidance_v.delta_t = guidance_v_run_speed(autopilot_in_flight(), &guidance_v)"/> | ||
| <call_block name="set_commands"/> | ||
| </control> | ||
| <exception cond="!GpsIsLost()" deroute="$LAST_MODE"/> | ||
| </mode> | ||
|
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| <!-- Kill throttle mode --> | ||
| <mode name="KILL"> | ||
| <select cond="kill_switch_is_on()"/> | ||
| <on_enter> | ||
| <call fun="autopilot_set_in_flight(false)"/> | ||
| <call fun="autopilot_set_motors_on(false)"/> | ||
| <call fun="stabilization_cmd[COMMAND_THRUST] = 0"/> | ||
| </on_enter> | ||
| <control> | ||
| <call fun="SetCommands(commands_failsafe)"/> | ||
| </control> | ||
| </mode> | ||
|
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| </state_machine> | ||
|
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| </autopilot> |
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