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| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="ekf_aw" dir="meteo"> | ||
| <doc> | ||
| <description> | ||
| Airspeed and Wind Estimator with EKF | ||
| Frédéric Larocque | ||
| </description> | ||
| <define name="PERIODIC_FREQUENCY_AIRSPEED_EKF" value="25" description="Airspeed periodic frequency"/> | ||
| <define name="PERIODIC_FREQUENCY_AIRSPEED_EKF_FETCH" value="100" description="Airspeed periodic fetch frequency"/> | ||
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| <define name="EKF_AW_P0_V_BODY" value="1e-00f" description="Initial covariance body velocity"/> | ||
| <define name="EKF_AW_P0_MU" value="1e-00f" description="Initial covariance wind"/> | ||
| <define name="EKF_AW_P0_OFFSET" value="1e-00f" description="Initial covariance offset"/> | ||
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| <define name="EKF_AW_Q_ACCEL" value="1e-00f" description="Accel process noise"/> | ||
| <define name="EKF_AW_Q_GYRO" value="1e-00f" description="Gyro process noise"/> | ||
| <define name="EKF_AW_Q_MU" value="1e-00f" description="Wind process noise"/> | ||
| <define name="EKF_AW_Q_OFFSET" value="1e-00f" description="Offset process noise"/> | ||
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| <define name="EKF_AW_R_V_GND" value="1e-00f" description="GPS Velocity measurement noise"/> | ||
| <define name="EKF_AW_R_ACCEL_FILT_X" value="1e-00f" description="Filtered x accel measurement noise"/> | ||
| <define name="EKF_AW_R_ACCEL_FILT_Y" value="1e-00f" description="Filtered y accel measurement noise"/> | ||
| <define name="EKF_AW_R_ACCEL_FILT_Z" value="1e-00f" description="Filtered z accel measurement noise"/> | ||
| <define name="EKF_AW_R_V_PITOT" value="1e-00f" description="Pitot Tube Velocity measurement noise"/> | ||
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| <define name="EKF_AW_WING_INSTALLED" value="false" description="Use wing contribution"/> | ||
| <define name="EKF_AW_USE_MODEL_BASED" value="false" description="Use model based to augment filter"/> | ||
| <define name="EKF_AW_USE_BETA" value="false" description="Use beta to estimate sideforce"/> | ||
| <define name="EKF_AW_PROPAGATE_OFFSET" value="false" description="Propagate the offset state"/> | ||
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| <define name="EKF_AW_VEHICLE_MASS" value="0.0" description="Mass of the vehicle"/> | ||
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| <define name="EKF_AW_K1_FX_DRAG" value="0.f" description="Drag coefficient linear to u used if use model based is set to false"/> | ||
| <define name="EKF_AW_K2_FX_DRAG" value="0.f" description="Drag coefficient linear to u^2 used if use model based is set to false"/> | ||
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| <define name="EKF_AW_K_FY_BETA" value="1e-00f" description="Fy v (side velocity) coefficient"/> | ||
| <define name="EKF_AW_K_FY_V" value="1e-00f" description="Fy beta coefficient"/> | ||
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| <define name="EKF_AW_K1_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/> | ||
| <define name="EKF_AW_K2_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/> | ||
| <define name="EKF_AW_K3_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/> | ||
| <define name="EKF_AW_K4_FX_FUSELAGE" value="1e-00f" description="Fx Fuselage Coeff"/> | ||
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| <define name="EKF_AW_K1_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/> | ||
| <define name="EKF_AW_K2_FX_HOVER" value="1e-00f" description="Fx Hover Prop Coeff"/> | ||
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| <define name="EKF_AW_K1_FX_WING" value="1e-00f" description="Fx Wing Coeff"/> | ||
| <define name="EKF_AW_K2_FX_WING" value="1e-00f" description="Fx Wing Coeff"/> | ||
| <define name="EKF_AW_K3_FX_WING" value="1e-00f" description="Fx Wing Coeff"/> | ||
| <define name="EKF_AW_K4_FX_WING" value="1e-00f" description="Fx Wing Coeff"/> | ||
| <define name="EKF_AW_K5_FX_WING" value="1e-00f" description="Fx Wing Coeff"/> | ||
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| <define name="EKF_AW_K1_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/> | ||
| <define name="EKF_AW_K2_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/> | ||
| <define name="EKF_AW_K3_FX_PUSH" value="1e-00f" description="Fx Pusher Coeff"/> | ||
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| <define name="EKF_AW_K1_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/> | ||
| <define name="EKF_AW_K2_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/> | ||
| <define name="EKF_AW_K3_FX_ELEV" value="1e-00f" description="Fx Elevator Coeff"/> | ||
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| <define name="EKF_AW_K1_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/> | ||
| <define name="EKF_AW_K2_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/> | ||
| <define name="EKF_AW_K3_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/> | ||
| <define name="EKF_AW_K4_FZ_FUSELAGE" value="1e-00f" description="Fz Fuselage Coeff"/> | ||
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| <define name="EKF_AW_K1_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/> | ||
| <define name="EKF_AW_K2_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/> | ||
| <define name="EKF_AW_K3_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/> | ||
| <define name="EKF_AW_K4_FZ_HOVER" value="1e-00f" description="Fz Hover Prop Coeff"/> | ||
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| <define name="EKF_AW_K1_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/> | ||
| <define name="EKF_AW_K2_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/> | ||
| <define name="EKF_AW_K3_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/> | ||
| <define name="EKF_AW_K4_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/> | ||
| <define name="EKF_AW_K5_Fz_WING" value="1e-00f" description="Fz Wing Coeff"/> | ||
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| <define name="EKF_AW_K1_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/> | ||
| <define name="EKF_AW_K2_FZ_ELEV" value="1e-00f" description="Fz Elevator Coeff"/> | ||
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| <define name="EKF_AW_ELEV_MAX_ANGLE" value="1e-00f" description="Maximum elevator angle"/> | ||
| <define name="EKF_AW_ELEV_MIN_ANGLE" value="1e-00f" description="Minimum elevator angle"/> | ||
| <define name="EKF_AW_AOA_MAX_ANGLE" value="1e-00f" description="Maximum angle of attack"/> | ||
| <define name="EKF_AW_AOA_MIN_ANGLE" value="1e-00f" description="Minimum angle of attack"/> | ||
| </doc> | ||
| <settings> | ||
| <dl_settings> | ||
| <dl_settings name="EKF_Airspeed_Wind"> | ||
| <dl_setting min="0" max="1" step="1" var="ekf_aw.override_start" module="meteo/ekf_aw_wrapper" shortname="Override Start"/> | ||
| <dl_setting min="0" max="1" step="1" var="ekf_aw.override_quick_convergence" module="meteo/ekf_aw_wrapper" shortname="Override Quick Convergence"/> | ||
| <dl_setting min="0" max="1" step="1" var="ekf_aw.reset" module="meteo/ekf_aw_wrapper" shortname="Reset States and Health" handler="reset"/> | ||
| <dl_setting min="0" max="1" step="1" var="ekf_aw_params.propagate_offset" module="meteo/ekf_aw" shortname="propagate offset"/> | ||
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| <dl_setting min="1E-1" max="8" step="1E-1" var="ekf_aw_params.vehicle_mass" module="meteo/ekf_aw" shortname="Vehicle Mass"/> | ||
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| <dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[0]" module="meteo/ekf_aw" shortname="k_drag_lin"/> | ||
| <dl_setting min="-1" max="0" step="1E-3" var="ekf_aw_params.k_fx_drag[1]" module="meteo/ekf_aw" shortname="k_drag_quad"/> | ||
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| <dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_beta" module="meteo/ekf_aw" shortname="k_beta"/> | ||
| <dl_setting min="-5E-2" max="0" step="1E-4" var="ekf_aw_params.k_fy_v" module="meteo/ekf_aw" shortname="k_v"/> | ||
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| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_accel" module="meteo/ekf_aw" shortname="Q accel" handler="update_Q_accel"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_gyro" module="meteo/ekf_aw" shortname="Q gyro" handler="update_Q_gyro"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_mu" module="meteo/ekf_aw" shortname="Q wind" handler="update_Q_mu"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.Q_k" module="meteo/ekf_aw" shortname="Q offset" handler="update_Q_k"/> | ||
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| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_gnd" module="meteo/ekf_aw" shortname="R V_gnd" handler="update_R_V_gnd"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[0]" module="meteo/ekf_aw" shortname="R Accel Filt x" handler="update_R_accel_filt_x"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[1]" module="meteo/ekf_aw" shortname="R Accel Filt y" handler="update_R_accel_filt_y"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_accel_filt[2]" module="meteo/ekf_aw" shortname="R Accel Filt z" handler="update_R_accel_filt_z"/> | ||
| <dl_setting min="1E-9" max="1E-2" step="1E-8" var="ekf_aw_params.R_V_pitot" module="meteo/ekf_aw" shortname="R Pitot" handler="update_R_V_pitot"/> | ||
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| <dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.x" module="meteo/ekf_aw_wrapper" shortname="Wind Guess N" handler="set_wind_N"/> | ||
| <dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.y" module="meteo/ekf_aw_wrapper" shortname="Wind Guess E" handler="set_wind_E"/> | ||
| <dl_setting min="-10" max="10" step="0.1" var="ekf_aw.wind_guess.z" module="meteo/ekf_aw_wrapper" shortname="Wind Guess D" handler="set_wind_D"/> | ||
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| <dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.x" module="meteo/ekf_aw_wrapper" shortname="Offset Guess x" handler="set_offset_x"/> | ||
| <dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.y" module="meteo/ekf_aw_wrapper" shortname="Offset Guess y" handler="set_offset_y"/> | ||
| <dl_setting min="-1" max="1" step="1E-3" var="ekf_aw.offset_guess.z" module="meteo/ekf_aw_wrapper" shortname="Offset Guess z" handler="set_offset_z"/> | ||
| </dl_settings> | ||
| </dl_settings> | ||
| </settings> | ||
| <header> | ||
| <file name="ekf_aw_wrapper.h"/> | ||
| </header> | ||
| <init fun="ekf_aw_wrapper_init()"/> | ||
| <periodic fun="ekf_aw_wrapper_periodic()" freq="25"/> | ||
| <periodic fun="ekf_aw_wrapper_fetch()" freq="100"/> | ||
| <makefile target="ap|nps"> | ||
| <file name="ekf_aw.cpp"/> | ||
| <file name="ekf_aw_wrapper.c"/> | ||
| <include name="$(PAPARAZZI_SRC)/sw/ext/matrix/"/> | ||
| </makefile> | ||
| </module> | ||
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| <!--Your comment | ||
| Target NPS or AP | ||
| <configure name="CXXSTANDARD" value="-std=c++14"/> | ||
| <flag name="LDFLAGS" value="lstdc++" /> | ||
| Target AP | ||
| <define name="EIGEN_NO_DEBUG"/> Removes debug checks and should lead to faster code execution | ||
| <flag name="CXXFLAGS" value="Wno-bool-compare"/> | ||
| <flag name="CXXFLAGS" value="Wno-logical-not-parentheses"/> | ||
| <datalink message="PING" fun="datalink_parse_PING(dev, trans, buf)"/> | ||
| --> | ||
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