nav_hybrid module

Navigation patterns and flight plan handling for hybrid airframes

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="nav_hybrid"/>

Module configuration options

Airframe file section

• section name: NAV_HYBRID prefix: NAV_HYBRID_
  • name MAX_DECELERATION value: 1.0
    Description: Maximum deceleration in [m/s2] when arriving to hover at a WP
  • name MAX_EXPECTED_WIND value: 5
    Description: Maximum expected constant wind. Used to calculate minimum circle radius to not exceed acceleration bound.
  • name LIMIT_CIRCLE_RADIUS value: FALSE
    Description: Limit the circle radius on max target groundspeed and max acceleration.
  • name EXT_VISION_SETPOINT_MODE value: FALSE
    Description: Use position setpoints when using external vision systems.
• section name: GUIDANCE_INDI_HYBRID prefix: GUIDANCE_INDI_
  • name MAX_AIRSPEED value: 15.
    Description: maximum airspeed (required)
  • name NAV_SPEED_MARGIN value: 10.
    Description: maximum commanded ground speed is MAX_AIRSPEED + NAV_SPEED_MARGIN
  • name GOTO_SPEED value: nav_max_speed
    Description: maximum speed when flying goto/stay routines (default is max speed)
  • name NAV_LINE_DIST value: 50
    Description: distance coefficient for line routine
  • name NAV_CIRCLE_DIST value: 40
    Description: distance coefficient for circle routine

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_rotorcraft_hybrid_init()

Files

Header Files

The following headers are automatically included in modules.h

• nav_rotorcraft_hybrid.h

Source Files

• modules/nav/nav_rotorcraft_hybrid.c

Raw nav_hybrid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_hybrid" dir="nav" task="control">
  <doc>
    <description>
      Navigation patterns and flight plan handling for hybrid airframes
    </description>
    <section name="NAV_HYBRID" prefix="NAV_HYBRID_">
      <define name="MAX_DECELERATION" value="1.0" description="Maximum deceleration in [m/s2] when arriving to hover at a WP"/>
      <define name="MAX_EXPECTED_WIND" value="5" description="Maximum expected constant wind. Used to calculate minimum circle radius to not exceed acceleration bound."/>
      <define name="LIMIT_CIRCLE_RADIUS" value="FALSE" description="Limit the circle radius on max target groundspeed and max acceleration."/>
      <define name="EXT_VISION_SETPOINT_MODE" value="FALSE" description="Use position setpoints when using external vision systems."/>
    </section>
    <section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
      <define name="MAX_AIRSPEED" value="15." description="maximum airspeed (required)"/>
      <define name="NAV_SPEED_MARGIN" value="10." description="maximum commanded ground speed is MAX_AIRSPEED + NAV_SPEED_MARGIN"/>
      <define name="GOTO_SPEED" value="nav_max_speed" description="maximum speed when flying goto/stay routines (default is max speed)"/>
      <define name="NAV_LINE_DIST" value="50" description="distance coefficient for line routine"/>
      <define name="NAV_CIRCLE_DIST" value="40" description="distance coefficient for circle routine"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="nav_hybrid">
        <dl_setting var="nav_hybrid_max_acceleration" min="1.0" step="0.1" max="9.0"/>
        <dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0"/>
        <dl_setting var="nav_hybrid_max_expected_wind" min="0.0" step="0.1" max="20.0" shortname="max_expected_wind"/>
        <dl_setting var="nav_max_deceleration_sp" min="0.5" step="0.1" max="10.0" shortname="max_deceleration" param="NAV_HYBRID_MAX_DECELERATION"/>
        <dl_setting var="nav_hybrid_line_gain" min="0.1" step="0.1" max="3" shortname="nav_hybrid_line_gain" param="NAV_HYBRID_LINE_GAIN"/>
        <dl_setting var="nav_hybrid_pos_gain" min="0.1" step="0.1" max="10" shortname="nav_hybrid_pos_gain" param="NAV_HYBRID_POS_GAIN"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>nav_basic_rotorcraft</depends>
  </dep>
  <header>
    <file name="nav_rotorcraft_hybrid.h"/>
  </header>
  <init fun="nav_rotorcraft_hybrid_init()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="nav_rotorcraft_hybrid.c"/>
    <test firmware="rotorcraft">
      <configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="GUIDANCE_INDI_HYBRID_U" value="3"/>
      <define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
    </test>
  </makefile>
</module>