oneloop_andi module

One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="oneloop_andi"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• oneloop_andi_init()

Files

Header Files

The following headers are automatically included in modules.h

• oneloop_andi.h

Source Files

• /oneloop/oneloop_andi.c

Raw oneloop_andi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="oneloop_andi" dir="oneloop" task="control">
  <doc>
    <description>One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C</description>
  </doc>
  <settings>
   <dl_settings>
     <dl_settings NAME="oneloop">
      <dl_setting var="cf.p.freq_set"      min="0.5"     step="0.1"   max="20"    shortname="p_cf_freq"/>
      <dl_setting var="cf.q.freq_set"      min="0.5"     step="0.1"   max="20"    shortname="q_cf_freq"/>
      <dl_setting var="cf.r.freq_set"      min="0.5"     step="0.1"   max="20"    shortname="r_cf_freq"/>
      <dl_setting var="cf.p_dot.freq_set"  min="0.5"     step="0.1"   max="20"    shortname="pdot_cf_freq"/>
      <dl_setting var="cf.q_dot.freq_set"  min="0.5"     step="0.1"   max="20"    shortname="qdot_cf_freq"/>
      <dl_setting var="cf.r_dot.freq_set"  min="0.5"     step="0.1"   max="20"    shortname="rdot_cf_freq"/>
      <dl_setting var="cf.ax.freq_set"     min="0.5"     step="0.1"   max="20"    shortname="ax_cf_freq"/>
      <dl_setting var="cf.ay.freq_set"     min="0.5"     step="0.1"   max="20"    shortname="ay_cf_freq"/>
      <dl_setting var="cf.az.freq_set"     min="0.5"     step="0.1"   max="20"    shortname="az_cf_freq"/>
      <dl_setting var="max_as"             min="7"       step="1"     max="19"    shortname="max_airspeed"/>
      <dl_setting var="temp_pitch"         min="0"       step="1"     max="9600"  shortname="temp_pitch"/>
      <dl_setting var="k_as"               min="1.0"     step="0.001" max="10"    shortname="k_as"/> 
      <dl_setting var="ctrl_off"           min="0"       step="1"     max="1"     values="OFF|ON" shortname="ctrl_off"/> 
      <dl_setting var="chirp_on"           min="0"       step="1"     max="1"     values="OFF|ON" shortname="chirp_on"/>  
      <dl_setting var="chirp_axis"         min="0"       step="1"     max="3"     shortname="chirp_axis"/>  
      <dl_setting var="f0_chirp"           min="0.01"    step="0.001" max="10"    shortname="f0_chirp"/> 
      <dl_setting var="f1_chirp"           min="0.01"    step="0.001" max="10"    shortname="f1_chirp"/>
      <dl_setting var="t_chirp"            min="0.01"    step="0.001" max="60"    shortname="t_chirp"/>
      <dl_setting var="A_chirp"            min="0.01"    step="0.001" max="10"    shortname="A_chirp"/>
      <dl_setting var="heading_manual"     min="0"       step="1"     max="1"     values="OFF|ON" shortname="take_heading"/>
      <dl_setting var="yaw_stick_in_auto"  min="0"       step="1"     max="1"     values="OFF|ON" shortname="yaw_stick_on"/>
      <dl_setting var="fwd_sideslip_gain"  min="0.01"    step="0.001" max="20.0"  shortname="fwd_sideslip_gain"/>
      <dl_setting var="psi_des_deg"        min="-180.0"  step="0.1"   max="180.0" shortname="psi_des"/>     
      <dl_setting var="p_att_e.omega_n"    min="0.1"     step="0.001" max="20.0"  shortname="p_att_e_omega_n"/>
      <dl_setting var="p_att_e.zeta"       min="0.1"     step="0.001" max="1.0"   shortname="p_att_e_zeta"/>
      <dl_setting var="p_att_rm.omega_n"   min="0.1"     step="0.001" max="70.0"  shortname="p_att_rm_omega_n"/>
      <dl_setting var="p_att_rm.zeta"      min="0.1"     step="0.001" max="1.0"   shortname="p_att_rm_zeta"/>
      <dl_setting var="p_att_rm.p3"        min="0.1"     step="0.001" max="70.0"  shortname="p_att_rm_p3"/>
      <dl_setting var="p_head_e.omega_n"   min="0.1"     step="0.001" max="20.0"  shortname="p_head_e_omega_n"/>
      <dl_setting var="p_head_e.zeta"      min="0.1"     step="0.001" max="1.0"   shortname="p_head_e_zeta"/>
      <dl_setting var="p_head_rm.omega_n"  min="0.1"     step="0.001" max="20.0"  shortname="p_head_rm_omega_n"/>
      <dl_setting var="p_head_rm.zeta"     min="0.1"     step="0.001" max="1.0"   shortname="p_head_rm_zeta"/>
      <dl_setting var="p_pos_e.omega_n"    min="0.1"     step="0.001" max="70.0"  shortname="p_pos_e_omega_n"/>
      <dl_setting var="p_pos_e.zeta"       min="0.1"     step="0.001" max="1.0"   shortname="p_pos_e_zeta"/>
      <dl_setting var="p_pos_e.p3"         min="0.1"     step="0.001" max="70.0"  shortname="p_pos_e_p3"/>
      <dl_setting var="p_pos_rm.omega_n"   min="0.1"     step="0.001" max="20.0"  shortname="p_pos_rm_omega_n"/>
      <dl_setting var="p_pos_rm.zeta"      min="0.1"     step="0.001" max="1.0"   shortname="p_pos_rm_zeta"/>       
      <dl_setting var="p_alt_e.omega_n"    min="0.1"     step="0.001" max="20.0"  shortname="p_alt_e_omega_n"/>
      <dl_setting var="p_alt_e.zeta"       min="0.1"     step="0.001" max="1.0"   shortname="p_alt_e_zeta"/>
      <dl_setting var="p_alt_rm.omega_n"   min="0.1"     step="0.001" max="20.0"  shortname="p_alt_rm_omega_n"/>
      <dl_setting var="p_alt_rm.zeta"      min="0.1"     step="0.001" max="1.0"   shortname="p_alt_rm_zeta"/>       
     </dl_settings>
   </dl_settings>
  </settings>
  <dep>
    <depends>stabilization_rotorcraft,@attitude_command,wls</depends>
    <provides>commands</provides>
  </dep>
  <header>
    <file name="oneloop_andi.h"/>
  </header>
  <init fun="oneloop_andi_init()"/>
   <makefile target="ap|nps" firmware="rotorcraft">
    <file       name="oneloop_andi.c" dir="$(SRC_FIRMWARE)/oneloop"/>
    <configure  name="ANDI_OUTPUTS" default="6"/>
    <define     name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
  </makefile> 
</module>