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102 lines
3.0 KiB
102 lines
3.0 KiB
/* |
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* PlaneEasystar.h |
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* |
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* Created on: May 1, 2011 |
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* Author: jgoppert |
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*/ |
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#ifndef PLANEEASYSTAR_H_ |
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#define PLANEEASYSTAR_H_ |
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using namespace apo; |
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// vehicle options |
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static const AP_Board::options_t options = AP_Board::opt_gps | AP_Board::opt_baro | AP_Board::opt_compass; |
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static const MAV_TYPE vehicle = MAV_TYPE_FIXED_WING; |
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//static const apo::AP_Board::mode_e = apo::AP_Board::MODE_HIL_CNTL; |
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static const apo::AP_Board::mode_e = apo::AP_Board::MODE_LIVE; |
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static const uint8_t heartBeatTimeout = 0; |
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// algorithm selection |
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#define CONTROLLER_CLASS ControllerPlane |
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#define GUIDE_CLASS MavlinkGuide |
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#define NAVIGATOR_CLASS Navigator_Dcm |
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// hardware selection |
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//#define BOARD_TYPE Board_APM1 |
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//#define BOARD_TYPE Board_APM1_2560 |
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#define BOARD_TYPE Board_APM2 |
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// loop rates |
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static const float loopRate = 150; // attitude nav |
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static const float loop0Rate = 50; // controller |
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static const float loop1Rate = 5; // pos nav/ gcs fast |
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static const float loop2Rate = 1; // gcs slow |
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static const float loop3Rate = 0.1; |
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// gains |
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static const float rdrAilMix = 1.0; // since there are no ailerons |
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// bank error to roll servo |
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static const float pidBnkRllP = -1; |
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static const float pidBnkRllI = 0.0; |
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static const float pidBnkRllD = 0.0; |
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static const float pidBnkRllAwu = 0.0; |
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static const float pidBnkRllLim = 1.0; |
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static const float pidBnkRllDFCut = 0.0; |
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// pitch error to pitch servo |
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static const float pidPitPitP = -1; |
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static const float pidPitPitI = 0.0; |
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static const float pidPitPitD = 0.0; |
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static const float pidPitPitAwu = 0.0; |
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static const float pidPitPitLim = 1.0; |
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static const float pidPitPitDFCut = 0.0; |
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// speed error to pitch command |
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static const float pidSpdPitP = 0.1; |
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static const float pidSpdPitI = 0.0; |
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static const float pidSpdPitD = 0.0; |
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static const float pidSpdPitAwu = 0.0; |
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static const float pidSpdPitLim = 1.0; |
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static const float pidSpdPitDFCut = 0.0; |
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// yaw rate error to yaw servo |
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static const float pidYwrYawP = -0.1; |
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static const float pidYwrYawI = 0.0; |
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static const float pidYwrYawD = 0.0; |
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static const float pidYwrYawAwu = 0.0; |
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static const float pidYwrYawLim = 1.0; |
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static const float pidYwrYawDFCut = 0.0; |
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// heading error to bank angle command |
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static const float pidHdgBnkP = 1.0; |
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static const float pidHdgBnkI = 0.0; |
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static const float pidHdgBnkD = 0.0; |
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static const float pidHdgBnkAwu = 0.0; |
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static const float pidHdgBnkLim = 0.5; |
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static const float pidHdgBnkDFCut = 0.0; |
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// altitude error to throttle command |
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static const float pidAltThrP = .01; |
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static const float pidAltThrI = 0.0; |
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static const float pidAltThrD = 0.0; |
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static const float pidAltThrAwu = 0.0; |
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static const float pidAltThrLim = 1; |
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static const float pidAltThrDFCut = 0.0; |
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// trim control positions (-1,1) |
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static const float ailTrim = 0.0; |
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static const float elvTrim = 0.0; |
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static const float rdrTrim = 0.0; |
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static const float thrTrim = 0.5; |
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// guidance |
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static const float velCmd = 1; // m/s |
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static const float xt = 10; // cross track gain |
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static const float xtLim = 90; // cross track angle limit, deg |
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#include "ControllerPlane.h" |
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#endif /* PLANEEASYSTAR_H_ */ |
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// vim:ts=4:sw=4:expandtab
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