stabilization_plane_pid module

Basic fixed-wing PID controller for rotorcraft firmware using float euler implementation

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="stabilization_plane_pid"/>

Module configuration options

Airframe file section

• section name: STABILIZATION_PLANE prefix: STABILIZATION_PLANE_
  • 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 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

Module functions

Init Functions

These initialization functions are called once on startup.

• stabilization_attitude_plane_pid_init()

Files

Header Files

The following headers are automatically included in modules.h

• stabilization_attitude_plane_pid.h

Source Files

• /stabilization/stabilization_attitude_plane_pid.c

Raw stabilization_plane_pid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="stabilization_plane_pid" dir="stabilization" task="control">
  <doc>
    <description>
      Basic fixed-wing PID controller for rotorcraft firmware using float euler implementation
    </description>
    <section name="STABILIZATION_PLANE" prefix="STABILIZATION_PLANE_">
      <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="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"/>
    </section>
  </doc>
  <settings target="ap|nps">
    <dl_settings>
      <dl_settings NAME="Att Loop">
        <dl_setting var="stab_plane_gains.p.x" min="1" step="1" max="15000" shortname="pgain phi" param="STABILIZATION_PLANE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude_plane_pid"/>
        <dl_setting var="stab_plane_gains.i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_PLANE_PHI_IGAIN" persistent="true"/>
        <dl_setting var="stab_plane_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_PLANE_PHI_DGAIN" persistent="true"/>
        <dl_setting var="stab_plane_gains.p.y" min="1" step="1" max="15000" shortname="pgain theta" param="STABILIZATION_PLANE_THETA_PGAIN" persistent="true"/>
        <dl_setting var="stab_plane_gains.i.y" min="0"  step="1" max="800" shortname="igain theta" param="STABILIZATION_PLANE_THETA_IGAIN" persistent="true"/>
        <dl_setting var="stab_plane_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_PLANE_THETA_DGAIN" persistent="true"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>stabilization_rotorcraft,@attitude_command</depends>
    <provides>commands</provides>
  </dep>
  <header>
    <file name="stabilization_attitude_plane_pid.h"/>
  </header>
  <init fun="stabilization_attitude_plane_pid_init()"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="stabilization_attitude_plane_pid.c" dir="$(SRC_FIRMWARE)/stabilization"/>
  </makefile>
</module>