Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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guidance_plane_pid_rotorcraft module

Basic guidance code for fixedwing planes using the rotorcraft firmware

with PID control, no airspeed control

Example for airframe file

Add to your firmware section:

<module name="guidance_plane_pid_rotorcraft"/>

Module configuration options

Airframe file section

  • section name: GUIDANCE_PLANE prefix: GUIDANCE_PLANE_
    • name MAX_BANK value: 20
      Description: maximum commanded bank angle
    • name COURSE_KP value: 79
      Description: feedback horizontal control P gain
    • name COURSE_KD value: 100
      Description: feedback horizontal control D gain
    • name ALT_KP value: 283
      Description: feedback vertical control P gain
    • name MAX_CLIMB value: 1.5
      Description: maximum commanded vertical speed
    • name PITCH_KP value: 283
      Description: feedback vertical control P gain
    • name PITCH_KD value: 82
      Description: feedback vertical control D gain
    • name PITCH_KI value: 13
      Description: feedback vertical control I gain
    • name THROTTLE_KP value: 283
      Description: feedback vertical control P gain
    • name THROTTLE_KD value: 82
      Description: feedback vertical control D gain
    • name THROTTLE_KI value: 13
      Description: feedback vertical control I gain
    • name NOMINAL_THROTTLE value: 0.5
      Description: nominal throttle at hover (between 0 and 1)

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

Raw guidance_plane_pid_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_plane_pid_rotorcraft" dir="guidance" task="control">
<doc>
<description>
Basic guidance code for fixedwing planes using the rotorcraft firmware
with PID control, no airspeed control
</description>
<section name="GUIDANCE_PLANE" prefix="GUIDANCE_PLANE_">
<define name="MAX_BANK" value="20" description="maximum commanded bank angle" unit="deg"/>
<define name="COURSE_KP" value="79" description="feedback horizontal control P gain"/>
<define name="COURSE_KD" value="100" description="feedback horizontal control D gain"/>
<define name="ALT_KP" value="283" description="feedback vertical control P gain"/>
<define name="MAX_CLIMB" value="1.5" description="maximum commanded vertical speed" unit="m/s"/>
<define name="PITCH_KP" value="283" description="feedback vertical control P gain"/>
<define name="PITCH_KD" value="82" description="feedback vertical control D gain"/>
<define name="PITCH_KI" value="13" description="feedback vertical control I gain"/>
<define name="THROTTLE_KP" value="283" description="feedback vertical control P gain"/>
<define name="THROTTLE_KD" value="82" description="feedback vertical control D gain"/>
<define name="THROTTLE_KI" value="13" description="feedback vertical control I gain"/>
<define name="NOMINAL_THROTTLE" value="0.5" description="nominal throttle at hover (between 0 and 1)"/>
</section>
</doc>
<settings target="ap|nps">
<dl_settings>
<dl_settings NAME="guidance plane">
<dl_setting var="guidance_plane.roll_max_setpoint" min="10." step="1." max="60." shortname="max bank" param="GUIDANCE_PLANE_MAX_BANK" module="guidance/guidance_plane" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_plane.pitch_max_setpoint" min="10." step="1." max="45." shortname="max pitch" param="GUIDANCE_PLANE_MAX_PITCH" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_plane.pitch_min_setpoint" min="-30." step="1." max="-10." shortname="min pitch" param="GUIDANCE_PLANE_MIN_PITCH" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_plane.pitch_trim" min="-10." step="1." max="10." shortname="pitch trim" param="GUIDANCE_PLANE_PITCH_TRIM" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_plane.cruise_throttle" min="0." step="0.01" max="1." shortname="cruise throttle" param="GUIDANCE_PLANE_NOMINAL_THROTTLE"/>
<dl_setting var="guidance_plane.climb_max_setpoint" min="0.5" step="0.1" max="5." shortname="max climb" param="GUIDANCE_PLANE_MAX_CLIMB" unit="m/s"/>
<dl_setting var="guidance_plane.course_kp" min="0." step="0.01" max="10." shortname="course kp" param="GUIDANCE_PLANE_COURSE_KP"/>
<dl_setting var="guidance_plane.course_kd" min="0." step="0.01" max="10." shortname="course kd" param="GUIDANCE_PLANE_COURSE_KD"/>
<dl_setting var="guidance_plane.climb_kp" min="0." step="0.01" max="10." shortname="climb kp" param="GUIDANCE_PLANE_CLIMB_KP"/>
<dl_setting var="guidance_plane.climb_throttle_increment" min="0." step="0.01" max="0.5" shortname="throttle increment" param="GUIDANCE_PLANE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting var="guidance_plane.pitch_of_vz" min="0." step="0.1" max="20." shortname="pitch of vz" param="GUIDANCE_PLANE_PITCH_OF_VZ" unit="rad" alt_unit="deg"/>
<dl_setting var="guidance_plane.p_kp" min="0." step="0.1" max="10." shortname="pitch kp" param="GUIDANCE_PLANE_PITCH_KP"/>
<dl_setting var="guidance_plane.p_kd" min="0." step="0.1" max="10." shortname="pitch kd" param="GUIDANCE_PLANE_PITCH_KD"/>
<dl_setting var="guidance_plane.p_ki" min="0." step="0.1" max="10." shortname="pitch ki" param="GUIDANCE_PLANE_PITCH_KI"/>
<dl_setting var="guidance_plane.t_kp" min="0." step="0.1" max="10." shortname="throttle kp" param="GUIDANCE_PLANE_THROTTLE_KP"/>
<dl_setting var="guidance_plane.t_kd" min="0." step="0.1" max="10." shortname="throttle kd" param="GUIDANCE_PLANE_THROTTLE_KD"/>
<dl_setting var="guidance_plane.t_ki" min="0." step="0.1" max="10." shortname="throttle ki" param="GUIDANCE_PLANE_THROTTLE_KI"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@stabilization,guidance_rotorcraft</depends>
<provides>guidance,attitude_command</provides>
</dep>
<header>
<file name="guidance_plane.h"/>
</header>
<init fun="guidance_plane_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_plane.c" dir="$(SRC_FIRMWARE)/guidance"/>
</makefile>
</module>