Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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wind_estimator module

Wind Estimator.

Using an UKF filter generated by MATLAB running in a ChibiOS thread Original Simulink files available at https://github.com/enacuavlab/UKF_Wind_Estimation Requires:

  • IMU for inertial data (rates and accel)
  • GPS for ground speed vector
  • magnetometer for true heading
  • pitot for airspeed norm
  • angle of attack probe (better and faster estimate of vertical component

Example for airframe file

Add to your firmware section:

1 <module name="wind_estimator"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

These event functions are called in each cycle of the module event loop.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw wind_estimator.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="wind_estimator" dir="meteo">
<doc>
<description>
Wind Estimator.
Using an UKF filter generated by MATLAB running in a ChibiOS thread
Original Simulink files available at https://github.com/enacuavlab/UKF_Wind_Estimation
Requires:
- IMU for inertial data (rates and accel)
- GPS for ground speed vector
- magnetometer for true heading
- pitot for airspeed norm
- angle of attack probe (better and faster estimate of vertical component
</description>
</doc>
<settings>
<dl_settings>
<dl_settings name="wind">
<dl_setting MAX="1" MIN="1" STEP="1" values="RESET" module="modules/meteo/wind_estimator" VAR="wind_estimator.reset" shortname="reset"/>
<dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_gs" shortname="R_GS" handler="Set_R_GS"/>
<dl_setting MAX="2." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_va" shortname="R_VA" handler="Set_R_VA"/>
<dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_aoa" shortname="R_AOA" handler="Set_R_AOA"/>
<dl_setting MAX="0.1" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.r_ssa" shortname="R_SSA" handler="Set_R_SSA"/>
<dl_setting MAX="1." MIN="0." STEP="0.01" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va" shortname="Q_VA" handler="Set_Q_VA"/>
<dl_setting MAX="0.01" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_wind" shortname="Q_WIND" handler="Set_Q_WIND"/>
<dl_setting MAX="0.001" MIN="0." STEP="0.0001" module="modules/meteo/wind_estimator" VAR="wind_estimator.q_va_scale" shortname="Q_VA_SCALE" handler="Set_Q_VA_SCALE"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="wind_estimator.h"/>
</header>
<init fun="wind_estimator_init()"/>
<periodic fun="wind_estimator_periodic()" freq="10." autorun="TRUE"/>
<event fun="wind_estimator_event()"/>
<makefile target="ap|nps">
<file name="wind_estimator.c"/>
<file name="lib_ukf_wind_estimator/UKF_Wind_Estimator.c"/>
</makefile>
</module>