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60 lines
1.5 KiB
60 lines
1.5 KiB
/* |
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* TankGeneric.h |
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* |
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* Created on: Sep 26, 2011 |
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* Author: jgoppert |
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*/ |
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// NOT CURRENTLY WORKING |
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#ifndef TANKGENERIC_H_ |
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#define TANKGENERIC_H_ |
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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 = UGV_GROUND_ROVER; |
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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 ControllerTank |
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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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const float steeringP = 1.0; |
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const float steeringI = 0.0; |
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const float steeringD = 0.0; |
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const float steeringIMax = 0.0; |
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const float steeringYMax = 3.0; |
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const float steeringDFCut = 25; |
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const float throttleP = 0.0; |
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const float throttleI = 0.0; |
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const float throttleD = 0.0; |
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const float throttleIMax = 0.0; |
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const float throttleYMax = 0.0; |
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const float throttleDFCut = 3.0; |
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// guidance |
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static const float velCmd = 5; |
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static const float xt = 10; |
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static const float xtLim = 90; |
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#include "ControllerTank.h" |
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#endif /* TANKGENERIC_H_ */ |
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// vim:ts=4:sw=4:expandtab
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