Guidance controller for hybrids using INDI
No detailed description...
Example for airframe file
Add to your firmware section:
<module name="guidance_indi_hybrid"/>
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
- /guidance/guidance_indi_hybrid.c
Raw guidance_indi_hybrid.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_indi_hybrid" dir="guidance" task="control">
<doc>
<description>
Guidance controller for hybrids using INDI
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="guidance_indi_hybrid">
<dl_setting var="gih_params.liftd_p50" min="0.1" step="0.1" max="10.0" shortname="liftd_p50" param="GUIDANCE_INDI_LIFTD_P50" persistent="true"/>
<dl_setting var="gih_params.liftd_p80" min="1.0" step="0.1" max="20.0" shortname="liftd_p80" param="GUIDANCE_INDI_LIFTD_P50" persistent="true"/>
<dl_setting var="gih_params.liftd_asq" min="0.01" step="0.01" max="1.0" shortname="liftd_asq" param="GUIDANCE_INDI_LIFTD_ASQ" persistent="true"/>
<dl_setting var="gih_params.pos_gain" min="0" step="0.1" max="10.0" shortname="kp" param="GUIDANCE_INDI_POS_GAIN" persistent="true"/>
<dl_setting var="gih_params.pos_gainz" min="0" step="0.1" max="10.0" shortname="kp_z" param="GUIDANCE_INDI_POS_GAINZ" persistent="true"/>
<dl_setting var="gih_params.speed_gain" min="0" step="0.1" max="10.0" shortname="kd" param="GUIDANCE_INDI_SPEED_GAIN" persistent="true"/>
<dl_setting var="gih_params.speed_gainz" min="0" step="0.1" max="10.0" shortname="kd_z" param="GUIDANCE_INDI_SPEED_GAINZ" persistent="true"/>
<dl_setting var="gih_params.heading_bank_gain" min="0" step="0.1" max="30.0" shortname="bank gain" param="GUIDANCE_INDI_HEADING_BANK_GAIN" persistent="true"/>
<dl_setting var="guidance_indi_max_airspeed" min="12.0" step="1.0" max="30.0" shortname="cruise_airspeed"/>
<dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0" shortname="nav_max_speed"/>
<dl_setting var="guidance_indi_max_bank" min="10.0" step="1.0" max="50.0" shortname="max_bank"/>
<dl_setting var="take_heading_control" min="0" step="1" max="1" values="OFF|ON" shortname="take_heading"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation</depends>
<provides>guidance,attitude_command</provides>
</dep>
<header>
<file name="guidance_indi_hybrid.h"/>
</header>
<init fun="guidance_indi_init()"/>
<init fun="guidance_indi_enter()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="guidance_indi_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
<define name="GUIDANCE_INDI" value="TRUE"/>
<define name="GUIDANCE_INDI_HYBRID" value="TRUE"/>
</makefile>
</module>