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

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

• module__stabilizationrotorcraft

Module functions

Init Functions

These initialization functions are called once on startup.

• stabilization_attitude_init()

Files

Header Files

The following headers are automatically included in modules.h

• stabilization_attitude.h
• stabilization_attitude_quat_float.h

Source Files

• /stabilization/stabilization_attitude_quat_float.c
• /stabilization/stabilization_attitude_ref_quat_float.c
• /stabilization/stabilization_attitude_rc_setpoint.c
• /stabilization/stabilization_attitude_quat_transformations.c

Raw stabilization_float_quat.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="stabilization_float_quat" dir="stabilization">
  <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>
  <autoload name="stabilization" type="rotorcraft"/>
  <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"/>
    <file name="stabilization_attitude_rc_setpoint.c" dir="$(SRC_FIRMWARE)/stabilization"/>
    <file name="stabilization_attitude_quat_transformations.c" dir="$(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>