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

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_quat_float.h"/>
</header>
<init fun="stabilization_attitude_quat_float_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"/>
</makefile>
</module>