guidance_rotorcraft module

Base guidance code for rotorcraft

It provides:

• horizontal guidance with reference
• vertical guidance with reference and adaptive control
• flip mode

Example for airframe file

Add to your firmware section:

<module name="guidance_rotorcraft"/>

Module configuration options

Airframe file section

• section name: GUIDANCE_H prefix: GUIDANCE_H_
  • name MAX_BANK value: 20
    Description: maximum commanded bank angle
  • name PGAIN value: 79
    Description: feedback horizontal control P gain
  • name DGAIN value: 100
    Description: feedback horizontal control D gain
  • name IGAIN value: 30
    Description: feedback horizontal control I gain
• section name: GUIDANCE_V prefix: GUIDANCE_V_
  • name HOVER_KP value: 283
    Description: feedback vertical control P gain
  • name HOVER_KD value: 82
    Description: feedback vertical control D gain
  • name HOVER_KI value: 13
    Description: feedback vertical control I gain
  • name NOMINAL_HOVER_THROTTLE value: 0.655
    Description: nominal throttle at hover (between 0 and 1)
  • name ADAPT_THROTTLE_ENABLED value: FALSE|TRUE
    Description: enable adaptive control by default

Module functions

Init Functions

These initialization functions are called once on startup.

• guidance_h_init()
• guidance_v_init()

Files

Header Files

The following headers are automatically included in modules.h

• guidance_h.h
• guidance_v.h

Source Files

• /guidance/guidance_h.c
• /guidance/guidance_h_ref.c
• /guidance/guidance_v.c
• /guidance/guidance_v_ref.c
• /guidance/guidance_v_adapt.c
• /guidance/guidance_flip.c

Raw guidance_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="guidance_rotorcraft" dir="guidance">
  <doc>
    <description>
      Base guidance code for rotorcraft
      It provides:
      - horizontal guidance with reference
      - vertical guidance with reference and adaptive control
      - flip mode
    </description>
    <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
      <define name="MAX_BANK" value="20" description="maximum commanded bank angle" unit="deg"/>
      <define name="PGAIN" value="79" description="feedback horizontal control P gain"/>
      <define name="DGAIN" value="100" description="feedback horizontal control D gain"/>
      <define name="IGAIN" value="30" description="feedback horizontal control I gain"/>
    </section>
    <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
      <define name="HOVER_KP" value="283" description="feedback vertical control P gain"/>
      <define name="HOVER_KD" value="82" description="feedback vertical control D gain"/>
      <define name="HOVER_KI" value="13" description="feedback vertical control I gain"/>
      <define name="NOMINAL_HOVER_THROTTLE" value="0.655" description="nominal throttle at hover (between 0 and 1)"/>
      <define name="ADAPT_THROTTLE_ENABLED" value="FALSE|TRUE" description="enable adaptive control by default"/>
    </section>
  </doc>
  <settings target="ap|nps">
    <dl_settings>
      <dl_settings NAME="Vert Loop">
        <dl_setting var="guidance_v_kp" min="0" step="1" max="600" shortname="kp" param="GUIDANCE_V_HOVER_KP" persistent="true" module="guidance/guidance_v"/>
        <dl_setting var="guidance_v_kd" min="0" step="1" max="600" shortname="kd" param="GUIDANCE_V_HOVER_KD" persistent="true"/>
        <dl_setting var="guidance_v_ki" min="0" step="1" max="300" shortname="ki" handler="SetKi" param="GUIDANCE_V_HOVER_KI" persistent="true" module="guidance/guidance_v"/>
        <dl_setting var="guidance_v_nominal_throttle" min="0.2" step="0.01" max="0.8" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" persistent="true"/>
        <dl_setting var="guidance_v_adapt_throttle_enabled" min="0" step="1" max="1" shortname="adapt_throttle" param="GUIDANCE_V_ADAPT_THROTTLE_ENABLED" values="FALSE|TRUE" persistent="true"/>
        <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
      </dl_settings>
      <dl_settings NAME="Horiz Loop">
        <dl_setting var="guidance_h.use_ref" min="0" step="1" max="1" shortname="use_ref" values="FALSE|TRUE" handler="SetUseRef" param="GUIDANCE_H_USE_REF" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="gh_ref.max_speed" min="0.1" step="0.1" max="15.0" shortname="max_speed" handler="SetMaxSpeed" param="GUIDANCE_H_REF_MAX_SPEED" type="float" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="guidance_h.approx_force_by_thrust" min="0" step="1" max="1" shortname="approx_force" values="FALSE|TRUE" param="GUIDANCE_H_APPROX_FORCE_BY_THRUST" type="uint8" persistent="true"/>
        <dl_setting var="gh_ref.tau" min="0.1" step="0.1" max="1.0" shortname="tau" handler="SetTau" param="GUIDANCE_H_REF_TAU" type="float" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="gh_ref.omega" min="0.1" step="0.1" max="3.0" shortname="omega" handler="SetOmega" param="GUIDANCE_H_REF_OMEGA" type="float" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA" type="float" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="guidance_h.gains.p" min="0" step="1" max="400" shortname="kp" param="GUIDANCE_H_PGAIN" type="int32" persistent="true"/>
        <dl_setting var="guidance_h.gains.d" min="0" step="1" max="400" shortname="kd" param="GUIDANCE_H_DGAIN" type="int32" persistent="true"/>
        <dl_setting var="guidance_h.gains.i" min="0" step="1" max="400" shortname="ki" handler="set_igain" param="GUIDANCE_H_IGAIN" type="int32" persistent="true" module="guidance/guidance_h"/>
        <dl_setting var="guidance_h.gains.v" min="0" step="1" max="400" shortname="kv" param="GUIDANCE_H_VGAIN" type="int32" persistent="true"/>
        <dl_setting var="guidance_h.gains.a" min="0" step="1" max="400" shortname="ka" param="GUIDANCE_H_AGAIN" type="int32" persistent="true"/>
        <dl_setting var="guidance_h.sp.pos.x" MIN="-10" MAX="10" STEP="1" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
        <dl_setting var="guidance_h.sp.pos.y" MIN="-10" MAX="10" STEP="1" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="guidance_h.h"/>
    <file name="guidance_v.h"/>
  </header>
  <init fun="guidance_h_init()"/>
  <init fun="guidance_v_init()"/>
  <makefile target="ap|nps|hitl" firmware="rotorcraft">
    <file name="guidance_h.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_h_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_v.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_v_ref.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_v_adapt.c" dir="$(SRC_FIRMWARE)/guidance"/>
    <file name="guidance_flip.c" dir="$(SRC_FIRMWARE)/guidance"/>
  </makefile>
</module>