guidance_basic_fw module

Legacy vertical control for fixedwing aircraft based on throttle (default) or pitch

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_basic_fw"/>

Module configuration options

Airframe file section

• section name: VERTICAL CONTROL prefix: V_CTL_
  • name POWER_CTL_BAT_NOMINAL value: 11.1
    Description: nominal battery level
  • name ALTITUDE_PGAIN value: 0.03
    Description: altitude loop P gain
  • name ALTITUDE_MAX_CLIMB value: 2.
    Description: max climb rate
  • name AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE value: 0.32
    Description: nominal throttle for cruise flight
  • name AUTO_THROTTLE_MIN_CRUISE_THROTTLE value: 0.25
    Description: min cruise throttle
  • name AUTO_THROTTLE_MAX_CRUISE_THROTTLE value: 0.65
    Description: max cruise throttle
  • name AUTO_THROTTLE_LOITER_TRIM value: 1500
    Description: loiter trim
  • name AUTO_THROTTLE_DASH_TRIM value: -4000
    Description: dash trim
  • name AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT value: 0.15
    Description: feedforward throttle gain
  • name AUTO_THROTTLE_PGAIN value: 0.01
    Description: feedback throttle P gain
  • name AUTO_THROTTLE_IGAIN value: 0.1
    Description: feedback throttle I gain
  • name AUTO_THROTTLE_PITCH_OF_VZ_PGAIN value: 0.05
    Description: feedforward pitch gain
  • name THROTTLE_SLEW_LIMITER value: 2
    Description: throttle slew rate limiter

Module functions

Init Functions

These initialization functions are called once on startup.

• v_ctl_init()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_v.h
• guidance_h.h

Source Files

• /guidance/guidance_v.c
• /guidance/guidance_h.c

Raw guidance_basic_fw.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_basic_fw" dir="guidance" task="control">
  <doc>
    <description>
      Legacy vertical control for fixedwing aircraft based on throttle (default) or pitch
    </description>
    <section name="VERTICAL CONTROL" prefix="V_CTL_">
      <define name="POWER_CTL_BAT_NOMINAL" value="11.1" description="nominal battery level" unit="volt"/>
      <define name="ALTITUDE_PGAIN" value="0.03" description="altitude loop P gain"/>
      <define name="ALTITUDE_MAX_CLIMB" value="2." description="max climb rate"/>
      <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32" description="nominal throttle for cruise flight"/>
      <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25" description="min cruise throttle"/>
      <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65" description="max cruise throttle"/>
      <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" description="loiter trim" unit="pprz"/>
      <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" description="dash trim" unit="pprz"/>
      <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" description="feedforward throttle gain" unit="%/(m/s)"/>
      <define name="AUTO_THROTTLE_PGAIN" value="0.01" description="feedback throttle P gain"/>
      <define name="AUTO_THROTTLE_IGAIN" value="0.1" description="feedback throttle I gain"/>
      <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" description="feedforward pitch gain"/>
      <define name="THROTTLE_SLEW_LIMITER" value="2" description="throttle slew rate limiter" unit="s"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="control vert">
        <dl_settings name="auto_throttle">
          <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
            <strip_button name="Loiter" value="0.1" group="dash_loiter"/>
            <strip_button name="Cruise" value="0" group="dash_loiter"/>
            <strip_button name="Dash" value="1" group="dash_loiter"/>
          </dl_setting>
          <dl_setting MAX="15" MIN="-15" STEP="0.1" VAR="v_ctl_pitch_trim" shortname="pitch trim" param="V_CTL_PITCH_TRIM" unit="rad" alt_unit="deg"/>
          <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
          <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
          <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
          <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
          <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
          <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
        </dl_settings>
        <dl_settings name="auto_pitch">
          <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
          <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
        </dl_settings>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation</depends>
    <provides>guidance,attitude_command</provides>
  </dep>
  <header>
    <file name="guidance_v.h"/>
    <file name="guidance_h.h"/>
  </header>
  <init fun="v_ctl_init()"/>
  <makefile target="ap|sim|nps" firmware="fixedwing">
    <file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
    <test firmware="fixedwing">
      <configure name="SRC_FIRMWARE" value="firmwares/fixedwing"/>
      <define name="V_CTL_ALTITUDE_PGAIN" value="1"/>
      <define name="V_CTL_ALTITUDE_MAX_CLIMB" value="1"/>
      <define name="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.5"/>
      <define name="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.5"/>
      <define name="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05"/>
      <define name="V_CTL_AUTO_THROTTLE_PGAIN" value="1"/>
      <define name="V_CTL_AUTO_THROTTLE_IGAIN" value="0"/>
      <define name="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0"/>
    </test>
  </makefile>
</module>