Guidance controller for rotorcraft using INDI
No detailed description...
Example for airframe file
Add to your firmware section:
<module name="guidance_indi"/>
Module functions
Init Functions
These initialization functions are called once on startup.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
- /guidance/guidance_indi.c
Raw guidance_indi.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi" dir="guidance" task="control">
<doc>
<description>
Guidance controller for rotorcraft using INDI
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="guidance_indi">
<dl_setting var="guidance_indi_pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_bank" min="0" step="0.1" max="80.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation,guidance_rotorcraft</depends>
<provides>guidance,attitude_command</provides>
</dep>
<header>
<file name="guidance_indi.h"/>
</header>
<init fun="guidance_indi_init()"/>
<init fun="guidance_indi_enter()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
<define name="GUIDANCE_INDI_USE_AS_DEFAULT" value="TRUE"/>
</makefile>
</module>