shift_tracking module

Pilot nav shift variable to track an offset in navigation

Typical use is to Control a fixed-wing to use both GPS and local position (from Decawave modules for instance) to land it with precision or in a net.

Data are coming from POSITION_ESTIMATE ABI message.

See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on UAV landing in a net.

Example for airframe file

Add to your firmware section:

<module name="shift_tracking"/>

Module configuration options

Airframe file section

• section name: SHIFT_TRACKING prefix: SHIFT_TRACKING_
  • name ID value: ABI_BROADCAST
    Description: ABI binding ID
  • name DIR value: 1.0, 0., 0.
    Description: direction to track expressed in the local pos frame
  • name KP value: 1.5
    Description: proportional gain
  • name KI value: 0.5
    Description: integral gain
  • name KD value: 1.0
    Description: derivative gain
  • name MAXSHIFT value: 30.
    Description: maximum offset control
  • name MAXSUM value: 30.
    Description: maximum integral part

Module functions

Init Functions

These initialization functions are called once on startup.

• shift_tracking_init()

Files

Header Files

The following headers are automatically included in modules.h

• shift_tracking.h

Source Files

• modules/ctrl/shift_tracking.c

Raw shift_tracking.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="shift_tracking" dir="ctrl">
  <doc>
    <description>
      Pilot nav shift variable to track an offset in navigation

      Typical use is to Control a fixed-wing to use both GPS and
      local position (from Decawave modules for instance) to land it
      with precision or in a net.

      Data are coming from POSITION_ESTIMATE ABI message.

      See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on UAV landing in a net.
    </description>
    <section name="SHIFT_TRACKING" prefix="SHIFT_TRACKING_">
      <define name="ID" value="ABI_BROADCAST" description="ABI binding ID"/>
      <define name="DIR" value="1.0, 0., 0." type="float[]" description="direction to track expressed in the local pos frame"/>
      <define name="KP" value="1.5" description="proportional gain"/>
      <define name="KI" value="0.5" description="integral gain"/>
      <define name="KD" value="1.0" description="derivative gain"/>
      <define name="MAXSHIFT" value="30." description="maximum offset control"/>
      <define name="MAXSUM" value="30." description="maximum integral part"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="shift tracking">
        <dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.kp" module="modules/ctrl/shift_tracking" handler="SetKp"/>
        <dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.ki" module="modules/ctrl/shift_tracking" handler="SetKi"/>
        <dl_setting MAX="5." MIN="0." STEP="0.05" VAR="shift_tracking.kd" module="modules/ctrl/shift_tracking" handler="SetKd"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="shift_tracking.h"/>
  </header>
  <init fun="shift_tracking_init()"/>
  <makefile>
    <file name="shift_tracking.c"/>
  </makefile>
</module>