One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C
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Example for airframe file
Add to your firmware section:
<module name="oneloop_andi"/>
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 oneloop_andi.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="oneloop_andi" dir="oneloop" task="control">
<doc>
<description>One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="oneloop">
<dl_setting var="p_att_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_att_e_omega_n"/>
<dl_setting var="p_att_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_att_e_zeta"/>
<dl_setting var="p_head_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_head_e_omega_n"/>
<dl_setting var="p_head_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_head_e_zeta"/>
<dl_setting var="p_pos_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_pos_e_omega_n"/>
<dl_setting var="p_pos_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_pos_e_zeta"/>
<dl_setting var="p_alt_e.omega_n" min="0.1" step="0.001" max="20.0" shortname="p_alt_e_omega_n"/>
<dl_setting var="p_alt_e.zeta" min="0.1" step="0.001" max="1.0" shortname="p_alt_e_zeta"/>
<dl_setting var="psi_des_deg" min="-180.0" step="0.1" max="180.0" shortname="psi_des"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>stabilization_rotorcraft,@attitude_command,wls</depends>
<provides>commands</provides>
</dep>
<header>
<file name="oneloop_andi.h"/>
</header>
<init fun="oneloop_andi_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="oneloop_andi.c" dir="$(SRC_FIRMWARE)/oneloop"/>
<configure name="ANDI_OUTPUTS" default="6"/>
<define name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
</makefile>
</module>
1.9.1