Paparazzi UAS  v5.15_devel-47-g0391b4d
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stabilization_adaptive_fw module

Adaptive attitude and lateral (heading) control for fixedwing aircraft.

Mostly based on PID and optional reference generators and feedforward gains. An experimental adaptive filter is also included to estimate some parameters, but should not be used for normal operation at the moment.

Example for airframe file

Add to your firmware section:

1 <module name="stabilization_adaptive_fw"/>

Module configuration options

Airframe file section

  • section name: HORIZONTAL CONTROL prefix: H_CTL_
    • name COURSE_PGAIN value: 1.0
      Description: feedback heading P gain
    • name COURSE_DGAIN value: 0.3
      Description: feedback heading D gain
    • name ROLL_MAX_SETPOINT value: 45.
      Description: max roll setpoint
    • name PITCH_MAX_SETPOINT value: 30.
      Description: max pitch up setpoint
    • name PITCH_MIN_SETPOINT value: -30.
      Description: max pitch down setpoint
    • name ROLL_ATTITUDE_GAIN value: 7500
      Description: feedback roll P gain
    • name ROLL_RATE_GAIN value: 1500
      Description: feedback roll rate P gain (roll D gain)
    • name ROLL_IGAIN value: 100.
      Description: feedback roll I gain
    • name ROLL_KFFA value: 0
      Description: feedforward roll acceleration gain
    • name ROLL_KFFD value: 0
      Description: feedforward roll rate gain
    • name PITCH_PGAIN value: 12000.
      Description: feedback pitch P gain
    • name PITCH_DGAIN value: 1.5
      Description: feedback pitch D gain
    • name PITCH_IGAIN value: 400
      Description: feedback pitch I gain
    • name PITCH_KFFA value: 0.
      Description: feedforward pitch acceleration gain
    • name PITCH_KFFD value: 0.
      Description: feedforward pitch rate gain
    • name PITCH_OF_ROLL value: 1.
      Description: feedforward pitch of roll coupling
    • name AILERON_OF_THROTTLE value: 0.0
      Description: feedforward roll of throttle coupling

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

  • /stabilization/stabilization_adaptive.c

Raw stabilization_adaptive_fw.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_adaptive" dir="stabilization">
<doc>
<description>
Adaptive attitude and lateral (heading) control for fixedwing aircraft.
Mostly based on PID and optional reference generators and feedforward gains.
An experimental adaptive filter is also included to estimate some parameters, but should not be used for normal operation at the moment.
</description>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0" description="feedback heading P gain"/>
<define name="COURSE_DGAIN" value="0.3" description="feedback heading D gain"/>
<define name="ROLL_MAX_SETPOINT" value="45." description="max roll setpoint" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." description="max pitch up setpoint" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." description="max pitch down setpoint" unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500" description="feedback roll P gain"/>
<define name="ROLL_RATE_GAIN" value="1500" description="feedback roll rate P gain (roll D gain)"/>
<define name="ROLL_IGAIN" value="100." description="feedback roll I gain"/>
<define name="ROLL_KFFA" value="0" description="feedforward roll acceleration gain"/>
<define name="ROLL_KFFD" value="0" description="feedforward roll rate gain"/>
<define name="PITCH_PGAIN" value="12000." description="feedback pitch P gain"/>
<define name="PITCH_DGAIN" value="1.5" description="feedback pitch D gain"/>
<define name="PITCH_IGAIN" value="400" description="feedback pitch I gain"/>
<define name="PITCH_KFFA" value="0." description="feedforward pitch acceleration gain"/>
<define name="PITCH_KFFD" value="0." description="feedforward pitch rate gain"/>
<define name="PITCH_OF_ROLL" value="1." description="feedforward pitch of roll coupling" unit="deg"/>
<define name="AILERON_OF_THROTTLE" value="0.0" description="feedforward roll of throttle coupling"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="control horiz">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
<dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain" module="stabilization/stabilization_adaptive"/>
<dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="50000" MIN="0" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" param="H_CTL_PITCH_IGAIN" handler="SetPitchIGain" module="stabilization/stabilization_adaptive"/>
<dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>
<dl_setting MAX="60" MIN="0" STEP="1." VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
<dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
</dl_settings>
<dl_settings NAME="feedforward">
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
</dl_settings>
<dl_settings name="course">
<dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="stabilization_attitude.h"/>
<file name="stabilization_adaptive.h"/>
</header>
<init fun="h_ctl_init()"/>
<makefile target="ap|sim|nps" firmware="fixedwing">
<file name="stabilization_adaptive.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>