You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
90 lines
2.9 KiB
90 lines
2.9 KiB
/* |
|
* QuadArducopter.h |
|
* |
|
* Created on: May 1, 2011 |
|
* Author: jgoppert |
|
*/ |
|
|
|
#ifndef QUADARDUCOPTER_H_ |
|
#define QUADARDUCOPTER_H_ |
|
|
|
// vehicle options |
|
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD; |
|
static const apo::halMode_t halMode = apo::MODE_LIVE; |
|
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560; |
|
static const uint8_t heartBeatTimeout = 3; |
|
|
|
// algorithm selection |
|
#define CONTROLLER_CLASS ControllerQuad |
|
#define GUIDE_CLASS MavlinkGuide |
|
#define NAVIGATOR_CLASS DcmNavigator |
|
#define COMMLINK_CLASS MavlinkComm |
|
|
|
// hardware selection |
|
#define ADC_CLASS AP_ADC_ADS7844 |
|
#define COMPASS_CLASS AP_Compass_HMC5843 |
|
#define BARO_CLASS APM_BMP085_Class |
|
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL |
|
|
|
// baud rates |
|
static uint32_t debugBaud = 57600; |
|
static uint32_t telemBaud = 57600; |
|
static uint32_t gpsBaud = 38400; |
|
static uint32_t hilBaud = 57600; |
|
|
|
// optional sensors |
|
static const bool gpsEnabled = false; |
|
static const bool baroEnabled = false; |
|
static const bool compassEnabled = true; |
|
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD; |
|
// compass orientation: See AP_Compass_HMC5843.h for possible values |
|
|
|
static const bool rangeFinderFrontEnabled = false; |
|
static const bool rangeFinderBackEnabled = false; |
|
static const bool rangeFinderLeftEnabled = false; |
|
static const bool rangeFinderRightEnabled = false; |
|
static const bool rangeFinderUpEnabled = false; |
|
static const bool rangeFinderDownEnabled = false; |
|
|
|
// loop rates |
|
static const float loop0Rate = 200; // attitude nav |
|
static const float loop1Rate = 50; // controller |
|
static const float loop2Rate = 10; // pos nav/ gcs fast |
|
static const float loop3Rate = 1; // gcs slow |
|
static const float loop4Rate = 0.1; |
|
|
|
// position control loop |
|
static const float PID_POS_P = 0; |
|
static const float PID_POS_I = 0; |
|
static const float PID_POS_D = 0; |
|
static const float PID_POS_LIM = 0; // about 5 deg |
|
static const float PID_POS_AWU = 0; // about 5 deg |
|
static const float PID_POS_Z_P = 0; |
|
static const float PID_POS_Z_I = 0; |
|
static const float PID_POS_Z_D = 0; |
|
static const float PID_POS_Z_LIM = 0; |
|
static const float PID_POS_Z_AWU = 0; |
|
|
|
// attitude control loop |
|
static const float PID_ATT_P = 0.3; |
|
static const float PID_ATT_I = 0.5; |
|
static const float PID_ATT_D = 0.08; |
|
static const float PID_ATT_LIM = 0.1; // 10 % |
|
static const float PID_ATT_AWU = 0.03; // 3 % |
|
static const float PID_YAWPOS_P = 0; |
|
static const float PID_YAWPOS_I = 0; |
|
static const float PID_YAWPOS_D = 0; |
|
static const float PID_YAWPOS_LIM = 0; // 1 rad/s |
|
static const float PID_YAWPOS_AWU = 0; // 1 rad/s |
|
static const float PID_YAWSPEED_P = 0.5; |
|
static const float PID_YAWSPEED_I = 0; |
|
static const float PID_YAWSPEED_D = 0; |
|
static const float PID_YAWSPEED_LIM = .1; // 10 % MOTORs |
|
static const float PID_YAWSPEED_AWU = 0.0; |
|
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz |
|
|
|
static const float THRUST_HOVER_OFFSET = 0.475; |
|
|
|
#include "ControllerQuad.h" |
|
|
|
#endif /* QUADARDUCOPTER_H_ */
|
|
|