guidance_indi_fully_actuated module

Fully actuated hexacopter model for INDI guidance

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="guidance_indi_fully_actuated"/>

Module configuration options

Airframe file section

• section name: GUIDANCE_INDI_FULLY_ACTUATED prefix: GUIDANCE_INDI_
  • name MASS value: 1.
    Description: mass of the aircraft in kg
  • name MAX_H_THRUST value: 1.
    Description: maximum horizontal force in Newtons
  • name MAX_V_THRUST value: 15.
    Description: maximum vertical force in Newtons

Files

Source Files

• /guidance/guidance_indi_fully_actuated.c

Raw guidance_indi_fully_actuated.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi_fully_actuated" dir="guidance" task="control">
  <doc>
    <description>
      Fully actuated hexacopter model for INDI guidance
    </description>
 
    <section name="GUIDANCE_INDI_FULLY_ACTUATED" prefix="GUIDANCE_INDI_">
      <define name="MASS" value="1." description="mass of the aircraft in kg"/>
      <define name="MAX_H_THRUST" value="1." description="maximum horizontal force in Newtons"/>
      <define name="MAX_V_THRUST" value="15." description="maximum vertical force in Newtons"/>
    </section>
  </doc>
  <dep>
    <depends>guidance_indi_base</depends>
  </dep>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_indi_fully_actuated.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="GUIDANCE_INDI_USE_WLS"/>
    <define name="GUIDANCE_INDI_NU" value="6"/>
    <test firmware="rotorcraft">
      <define name="INDI_OUTPUTS" value="4"/>
      <define name="INDI_NUM_ACT" value="4"/>
      <define name="GUIDANCE_INDI_MASS" value="1"/>
      <define name="GUIDANCE_INDI_NU" value="6"/>
    </test>
  </makefile>
</module>