No detailed description...
These initialization functions are called once on startup.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_float_euler" dir="stabilization" task="control">
<doc>
<description>
Stabilization controller for rotorcraft using float euler implementation
</description>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="45." description="max setpoint for roll angle" unit="deg"/>
<define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
<define name="SP_MAX_R" value="90." description="max setpoint for yaw rate" unit="deg/s"/>
<define name="DEADBAND_R" value="250" description="deadband on yaw rate input"/>
<define name="REF_OMEGA_P" value="400" description="reference generator omega param on roll rate" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9" description="reference generator zeta param on roll rate"/>
<define name="REF_MAX_P" value="300." description="reference generator max roll rate" unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" description="reference generator max roll acceleration"/>
<define name="REF_OMEGA_Q" value="400" description="reference generator omega param on pitch rate" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9" description="reference generator zeta param on pitch rate"/>
<define name="REF_MAX_Q" value="300." description="reference generator max pitch rate" unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" description="reference generator max pitch acceleration"/>
<define name="REF_OMEGA_R" value="250" description="reference generator omega param on yaw rate" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9" description="reference generator zeta param on yaw rate"/>
<define name="REF_MAX_R" value="180." description="reference generator max yaw rate" unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" description="reference generator max yaw acceleration"/>
<define name="PHI_PGAIN" value="400" description="feedback roll P gain"/>
<define name="PHI_DGAIN" value="300" description="feedback roll D gain"/>
<define name="PHI_IGAIN" value="100" description="feedback roll I gain"/>
<define name="THETA_PGAIN" value="400" description="feedback pitch P gain"/>
<define name="THETA_DGAIN" value="300" description="feedback pitch D gain"/>
<define name="THETA_IGAIN" value="100" description="feedback pitch I gain"/>
<define name="PSI_PGAIN" value="380" description="feedback yaw P gain"/>
<define name="PSI_DGAIN" value="320" description="feedback yaw D gain"/>
<define name="PSI_IGAIN" value="100" description="feedback yaw I gain"/>
<define name="PHI_DDGAIN" value="300" description="feedforward roll acceleration gain"/>
<define name="THETA_DDGAIN" value="300" description="feedforward pitch acceleration gain"/>
<define name="PSI_DDGAIN" value="300" description="feedforward yaw acceleration gain"/>
</section>
</doc>
<settings target="ap|nps">
<dl_settings>
<dl_settings NAME="Att Loop">
<dl_setting var="stabilization_gains.p.x" min="1" step="1" max="8000" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude"/>
<dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.rates_d.x" min="0" step="1" max="500" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D" persistent="true"/>
<dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.i.y" min="0" step="1" max="800" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.rates_d.y" min="0" step="1" max="500" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D" persistent="true"/>
<dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="1000" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.p.z" min="1" step="1" max="8000" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.i.z" min="0" step="1" max="400" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains.rates_d.z" min="0" step="1" max="500" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D" persistent="true"/>
<dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>stabilization_rotorcraft,@attitude_command</depends>
<provides>commands</provides>
</dep>
<header>
<file name="stabilization_attitude_euler_float.h"/>
</header>
<init fun="stabilization_attitude_euler_float_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_euler_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
</makefile>
</module>