Demo Vertical Control Module

Module XML file: vertical_ctrl_module_demo.xml

Only for rotorcraft firmware. Example on how to reads the sonar and directly control the thrust.

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

<modules>
  <load name="vertical_ctrl_module_demo.xml">
    <define name="VERTICAL_CTRL_MODULE_AGL_ID" value="ABI_BROADCAST" />
  </load>
</modules>

Module configuration options

Define Options

• name: VERTICAL_CTRL_MODULE_AGL_ID value: ABI_BROADCAST
  Description: Sender id of the AGL (sonar) ABI message

Airframe file section

• section name: VERTICAL_CTRL_MODULE prefix: VERTICAL_CTRL_MODULE_
  • name PGAIN value: 1.0
    Description: P gain on height error
  • name IGAIN value: 0.01
    Description: I gain on summed height error

Files

Header Files

The following headers are automatically included in modules.h

• vertical_ctrl_module_demo.h

Source Files

• modules/ctrl/vertical_ctrl_module_demo.c

Raw vertical_ctrl_module_demo.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="vertical_ctrl_module_demo" dir="ctrl">
  <doc>
    <description>
        Demo Vertical Control Module.
        Only for rotorcraft firmware.
        Example on how to reads the sonar and directly control the thrust.
    </description>
    <define name="VERTICAL_CTRL_MODULE_AGL_ID" value="ABI_BROADCAST" description="Sender id of the AGL (sonar) ABI message"/>
    <section name="VERTICAL_CTRL_MODULE" prefix="VERTICAL_CTRL_MODULE_">
      <define name="PGAIN" value="1.0" description="P gain on height error"/>
      <define name="IGAIN" value="0.01" description="I gain on summed height error"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="VertCtrlModDemo">
        <dl_setting var="v_ctrl.setpoint" min="0" step="0.01" max="10" module="ctrl/vertical_ctrl_module_demo" shortname="height sp"/>
        <dl_setting var="v_ctrl.pgain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="pgain" param="VERTICAL_CTRL_MODULE_PGAIN"/>
        <dl_setting var="v_ctrl.igain" min="0" step="0.01" max="1" module="ctrl/vertical_ctrl_module_demo" shortname="igain" param="VERTICAL_CTRL_MODULE_IGAIN"/>
      </dl_settings>
    </dl_settings>
  </settings>

  <header>
    <file name="vertical_ctrl_module_demo.h"/>
  </header>

  <makefile>
    <file name="vertical_ctrl_module_demo.c"/>
  </makefile>

</module>