wind_estimation_quadrotor module

Wind estimation from quadrotor motion

Estimation using a linear Kalman filter

For details, see: G. Hattenberger, M. Bronz, and J. Condomines, “Estimating wind using a quadrotor,” in 12th international micro air vehicle conference, Puebla, México, 2021, p. 124–130.

Example for airframe file

Add to your firmware section:

<module name="wind_estimation_quadrotor"/>

Module configuration options

Airframe file section

• section name: WE_QUAD prefix: WE_QUAD_
  • name MASS value: required
    Description: mass of the airframe
  • name DRAG value: required
    Description: linear drag coefficient modeling the relation between drag and bank angle
  • name P0_VA value: 1.
    Description: initial covariance on airspeed estimate
  • name P0_W value: 1.
    Description: initial covariance on wind estimate
  • name Q_VA value: 0.05
    Description: process noise on airspeed
  • name Q_W value: 0.001
    Description: process noise on wind estimate
  • name R value: 0.5
    Description: measurement noise on ground speed
  • name UPDATE_STATE value: FALSE|TRUE
    Description: update directly wind estimation in state interface (default: TRUE)

Module functions

Init Functions

These initialization functions are called once on startup.

• wind_estimation_quadrotor_init()

Periodic Functions

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

• wind_estimation_quadrotor_periodic()
  • Frequency in Hz: 10.0
  • Autorun: FALSE
    Periodic function is started by user command.
  • Start function: wind_estimation_quadrotor_stop()
    Executed before the periodic function starts.
  • Stop function: wind_estimation_quadrotor_start()
    Executed after the periodic function stops.
• wind_estimation_quadrotor_report()
  • Frequency in Hz: 10.0
  • Autorun: FALSE
    Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

• wind_estimation_quadrotor.h

Source Files

• modules/meteo/wind_estimation_quadrotor.c
• filters/linear_kalman_filter.c

Raw wind_estimation_quadrotor.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="wind_estimation_quadrotor" dir="meteo">
  <doc>
    <description>
      Wind estimation from quadrotor motion
      Estimation using a linear Kalman filter
 
      For details, see:
      G. Hattenberger, M. Bronz, and J. Condomines, “Estimating wind using a quadrotor,”
      in 12th international micro air vehicle conference, Puebla, México, 2021, p. 124–130.
    </description>
    <section name="WE_QUAD" prefix="WE_QUAD_">
      <define name="MASS" value="required" description="mass of the airframe" unit="kg"/>
      <define name="DRAG" value="required" description="linear drag coefficient modeling the relation between drag and bank angle"/>
      <define name="P0_VA" value="1." description="initial covariance on airspeed estimate"/>
      <define name="P0_W" value="1." description="initial covariance on wind estimate"/>
      <define name="Q_VA" value="0.05" description="process noise on airspeed"/>
      <define name="Q_W" value="0.001" description="process noise on wind estimate"/>
      <define name="R" value="0.5" description="measurement noise on ground speed"/>
      <define name="UPDATE_STATE" value="FALSE|TRUE" description="update directly wind estimation in state interface (default: TRUE)"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="Wind quad">
        <dl_setting MIN="0.001" MAX="1" STEP="0.01" VAR="we_quad_params.Q_va" shortname="Q_va" module="meteo/wind_estimation_quadrotor" handler="SetQva"/>
        <dl_setting MIN="0.001" MAX="0.1" STEP="0.001" VAR="we_quad_params.Q_w" shortname="Q_w" module="meteo/wind_estimation_quadrotor" handler="SetQw"/>
        <dl_setting MIN="0.01" MAX="3" STEP="0.01" VAR="we_quad_params.R" shortname="R" module="meteo/wind_estimation_quadrotor" handler="SetR"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="wind_estimation_quadrotor.h"/>
  </header>
  <init fun="wind_estimation_quadrotor_init()"/>
  <periodic fun="wind_estimation_quadrotor_periodic()" freq="10.0" start="wind_estimation_quadrotor_stop()" stop="wind_estimation_quadrotor_start()" autorun="FALSE"/>
  <periodic fun="wind_estimation_quadrotor_report()" freq="10.0" autorun="FALSE"/>
  <makefile>
    <file name="wind_estimation_quadrotor.c"/>
    <file name="linear_kalman_filter.c" dir="filters"/>
    <test>
      <define name="WE_QUAD_MASS" value="1."/>
      <define name="WE_QUAD_DRAG" value="1."/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="WIND_ESTIMATION_QUADROTOR_PERIODIC_PERIOD" value="0.1"/>
    </test>
  </makefile>
</module>