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

Stabilization controller for rotorcraft using float quaternion implementation

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="stabilization_float_quat"/>

Module configuration options

Airframe file section

  • section name: STABILIZATION_ATTITUDE prefix: STABILIZATION_ATTITUDE_
    • name SP_MAX_PHI value: 45.
      Description: max setpoint for roll angle
    • name SP_MAX_THETA value: 45.
      Description: max setpoint for pitch angle
    • name SP_MAX_R value: 90.
      Description: max setpoint for yaw rate
    • name DEADBAND_R value: 250
      Description: deadband on yaw rate input
    • name REF_OMEGA_P value: {400}
      Description: reference generator omega param on roll rate
    • name REF_ZETA_P value: {0.9}
      Description: reference generator zeta param on roll rate
    • name REF_MAX_P value: 300.
      Description: reference generator max roll rate
    • name REF_MAX_PDOT value: RadOfDeg(7000.)
      Description: reference generator max roll acceleration
    • name REF_OMEGA_Q value: {400}
      Description: reference generator omega param on pitch rate
    • name REF_ZETA_Q value: {0.9}
      Description: reference generator zeta param on pitch rate
    • name REF_MAX_Q value: 300.
      Description: reference generator max pitch rate
    • name REF_MAX_QDOT value: RadOfDeg(7000.)
      Description: reference generator max pitch acceleration
    • name REF_OMEGA_R value: {250}
      Description: reference generator omega param on yaw rate
    • name REF_ZETA_R value: {0.9}
      Description: reference generator zeta param on yaw rate
    • name REF_MAX_R value: 180.
      Description: reference generator max yaw rate
    • name REF_MAX_RDOT value: RadOfDeg(1800.)
      Description: reference generator max yaw acceleration
    • name PHI_PGAIN value: {400}
      Description: feedback roll P gain
    • name PHI_DGAIN value: {300}
      Description: feedback roll D gain
    • name PHI_IGAIN value: {100}
      Description: feedback roll I gain
    • name THETA_PGAIN value: {400}
      Description: feedback pitch P gain
    • name THETA_DGAIN value: {300}
      Description: feedback pitch D gain
    • name THETA_IGAIN value: {100}
      Description: feedback pitch I gain
    • name PSI_PGAIN value: {380}
      Description: feedback yaw P gain
    • name PSI_DGAIN value: {320}
      Description: feedback yaw D gain
    • name PSI_IGAIN value: {100}
      Description: feedback yaw I gain
    • name PHI_DDGAIN value: {300}
      Description: feedforward roll acceleration gain
    • name THETA_DDGAIN value: {300}
      Description: feedforward pitch acceleration gain
    • name PSI_DDGAIN value: {300}
      Description: feedforward yaw acceleration gain

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_attitude_quat_float.c
  • /stabilization/stabilization_attitude_ref_quat_float.c

Raw stabilization_float_quat.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_float_quat" dir="stabilization" task="control">
<doc>
<description>
Stabilization controller for rotorcraft using float quaternion 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[0].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[0].i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].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[0].dd.x" min="0" step="1" max="1000" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].p.y" min="1" step="1" max="8000" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].i.y" min="0" step="1" max="800" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].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[0].dd.y" min="0" step="1" max="1000" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].p.z" min="1" step="1" max="4000" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].i.z" min="0" step="1" max="400" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].d.z" min="1" step="1" max="4000" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN" persistent="true"/>
<dl_setting var="stabilization_gains[0].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[0].dd.z" min="0" step="1" max="1000" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN" persistent="true"/>
<dl_setting var="att_ref_quat_f.model[0].omega.p" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" shortname="omega p" param="STABILIZATION_ATTITUDE_REF_OMEGA_P" handler="SetOmegaP" module="stabilization/stabilization_attitude_quat_float"/>
<dl_setting var="att_ref_quat_f.model[0].zeta.p" min="0.5" step="0.05" max="1.2" shortname="zeta p" param="STABILIZATION_ATTITUDE_REF_ZETA_P"/>
<dl_setting var="att_ref_quat_f.model[0].omega.q" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" shortname="omega q" param="STABILIZATION_ATTITUDE_REF_OMEGA_Q" handler="SetOmegaQ"/>
<dl_setting var="att_ref_quat_f.model[0].zeta.q" min="0.5" step="0.05" max="1.2" shortname="zeta q" param="STABILIZATION_ATTITUDE_REF_ZETA_Q"/>
<dl_setting var="att_ref_quat_f.model[0].omega.r" min="1" step="1" max="1000" unit="rad/s" alt_unit="deg/s" shortname="omega r" param="STABILIZATION_ATTITUDE_REF_OMEGA_R" handler="SetOmegaR"/>
<dl_setting var="att_ref_quat_f.model[0].zeta.r" min="0.5" step="0.05" max="1.2" shortname="zeta r" param="STABILIZATION_ATTITUDE_REF_ZETA_R"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>stabilization_rotorcraft,@attitude_command</depends>
<provides>commands</provides>
</dep>
<header>
<file name="stabilization_attitude.h"/>
<file name="stabilization_attitude_quat_float.h"/>
</header>
<init fun="stabilization_attitude_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_attitude_quat_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<file name="stabilization_attitude_ref_quat_float.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="STABILIZATION_ATTITUDE_TYPE_FLOAT"/>
<define name="STABILIZATION_ATTITUDE_TYPE_H" value="stabilization_attitude_quat_float.h" type="string"/>
</makefile>
</module>