guidance_indi_hybrid module

Common guidance controller code for hybrids using INDI: in your airframe file include one of the options:

• guidance_indi_hybid_tailsitter
• guidance_indi_hybid_quadplane

Example for airframe file

Add to your firmware section:

<module name="guidance_indi_hybrid"/>

Module configuration options

Airframe file section

• section name: GUIDANCE_INDI_HYBRID prefix: GUIDANCE_INDI_
  • name USE_WLS value: FALSE|TRUE
    Description: use WLS allocation instead of matrix inversion (default: FALSE)
  • name WLS_PRIORITIES value: {100., 100., 1.}
    Description: WLS priorities on control objectives
  • name WLS_WU value: {1., 1., 1.}
    Description: WLS weighting on outputs
  • name MAX_LAT_ACCEL value: 9.81
    Description: Maximal Lateral Acceleration (in the Body-y Direction)
  • name COORDINATED_TURN_MIN_AIRSPEED value: 10.0
    Description: Yaw-rate computations based on airspeed are dividing by the airspeed, so a lower bound is important
  • name COORDINATED_TURN_MAX_AIRSPEED value: 30.0
    Description: Maximum airspeed in yaw-rate computations
  • name COORDINATED_TURN_AIRSPEED_MARGIN value: 0.0
    Description: Margin above maximum speed where we are sure the sensor reading is false

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_indi_init()
• guidance_indi_enter()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_indi_hybrid.h

Source Files

• /guidance/guidance_indi_hybrid.c

Raw guidance_indi_hybrid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="guidance_indi_hybrid" dir="guidance" task="control">
  <doc>
    <description>
      Common guidance controller code for hybrids using INDI: in your airframe file include one of the options:
       - guidance_indi_hybid_tailsitter
       - guidance_indi_hybid_quadplane
    </description>
    <section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
      <define name="USE_WLS" value="FALSE|TRUE" description="use WLS allocation instead of matrix inversion (default: FALSE)"/>
      <define name="WLS_PRIORITIES" value="{100., 100., 1.}" description="WLS priorities on control objectives"/>
      <define name="WLS_WU" value="{1., 1., 1.}" description="WLS weighting on outputs"/>
      <define name="MAX_LAT_ACCEL" value="9.81" description="Maximal Lateral Acceleration (in the Body-y Direction)"/>
      <define name="COORDINATED_TURN_MIN_AIRSPEED" value="10.0" description="Yaw-rate computations based on airspeed are dividing by the airspeed, so a lower bound is important"/>
      <define name="COORDINATED_TURN_MAX_AIRSPEED" value="30.0" description="Maximum airspeed in yaw-rate computations"/>
      <define name="COORDINATED_TURN_AIRSPEED_MARGIN" value="0.0" description="Margin above maximum speed where we are sure the sensor reading is false"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="guidance_indi_hybrid">
        <dl_setting var="gih_params.liftd_p50" min="0.1" step="0.1" max="10.0" shortname="liftd_p50" param="GUIDANCE_INDI_LIFTD_P50" persistent="true" module="guidance/guidance_indi_hybrid"/>
        <dl_setting var="gih_params.liftd_p80" min="1.0" step="0.1" max="20.0" shortname="liftd_p80" param="GUIDANCE_INDI_LIFTD_P50" persistent="true"/>
        <dl_setting var="gih_params.liftd_asq" min="0.01" step="0.01" max="1.0" shortname="liftd_asq" param="GUIDANCE_INDI_LIFTD_ASQ" persistent="true"/>
        <dl_setting var="gih_params.pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
        <dl_setting var="gih_params.pos_gainz" min="0" step="0.1" max="10.0" shortname="kp_z" param="GUIDANCE_INDI_POS_GAINZ" persistent="true"/>
        <dl_setting var="gih_params.speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
        <dl_setting var="gih_params.speed_gainz" min="0" step="0.1" max="10.0" shortname="kd_z" param="GUIDANCE_INDI_SPEED_GAINZ" persistent="true"/>
        <dl_setting var="gih_params.heading_bank_gain" min="0" step="0.1" max="30.0" shortname="bank gain" param="GUIDANCE_INDI_HEADING_BANK_GAIN" persistent="true"/>
        <dl_setting var="gih_params.max_airspeed" min="12.0" step="1.0" max="30.0" shortname="max_airspeed" param="GUIDANCE_INDI_MAX_AIRSPEED"/>
        <dl_setting var="guidance_indi_max_bank" min="10.0" step="1.0" max="50.0" shortname="max_bank" param="GUIDANCE_H_MAX_BANK" unit="rad" alt_unit="deg"/>
        <dl_setting var="guidance_indi_min_pitch" min="-130.0" step="1.0" max="-30.0" shortname="min_pitch" param="GUIDANCE_INDI_MIN_PITCH"/>
        <dl_setting var="take_heading_control" min="0" step="1" max="1" values="OFF|ON" shortname="take_heading"/>
        <dl_setting var="guidance_indi_airspeed_filtering" min="0" step="1" max="1" values="OFF|ON" shortname="as_filt"/>
        <dl_setting var="gih_params.climb_vspeed_fwd" min="0" step="0.1" max="20.0" shortname="fwd_vspeed_climb"/>
        <dl_setting var="gih_params.descend_vspeed_fwd" min="-20.0" step="0.1" max="0" shortname="fwd_vspeed_descend"/>
        <dl_setting var="gih_params.climb_vspeed_quad" min="0" step="0.1" max="20.0" shortname="quad_vspeed_climb"/>
        <dl_setting var="gih_params.descend_vspeed_quad" min="-20.0" step="0.1" max="0" shortname="quad_vspeed_descend"/>
        <dl_setting var="gih_params.stall_protect_gain" min="0" step="0.1" max="20.0" shortname="stall_gain"/>
        <dl_setting var="coordinated_turn_use_accel" min="0" step="1" max="1" values="FALSE|TRUE" shortname="coordinated_turn_use_accel"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation,guidance_rotorcraft,wls</depends>
    <suggests>guidance_indi_hybrid_tailsitter</suggests>
  </dep>
  <header>
    <file name="guidance_indi_hybrid.h"/>
  </header>
  <init fun="guidance_indi_init()"/>
  <init fun="guidance_indi_enter()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="guidance_indi_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <define name="GUIDANCE_INDI_HYBRID" value="TRUE"/>
    <define name="GUIDANCE_PID_USE_AS_DEFAULT" value="FALSE"/>
    <define name="GUIDANCE_INDI_HYBRID_USE_AS_DEFAULT" value="TRUE"/>
  </makefile>
</module>