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Code Issues Releases Activity

LP-295 fixed uavobject definitions as per pull request comment

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This commit is contained in:
Corvus Corax 2016-04-25 18:05:15 +02:00
parent 47d2746fba
commit 37d9675924
2 changed files with 26 additions and 52 deletions
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76
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
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@ -3,69 +3,43 @@
<description>Settings for the @ref FixedWingPathFollowerModule</description>
<!-- these coefficients control desired movement in airspace -->
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="20"/>
<!-- Maximum speed the autopilot will try to achieve, usually for long distances -->
<field name="HorizontalVelMin" units="m/s" type="float" elements="1" defaultvalue="10"/>
<!-- V_y, Minimum speed the autopilot will try to fly, for example when loitering -->
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="10"/>
<!-- maximum allowed climb or sink rate in guided flight-->
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="20" description="Maximum speed the autopilot will try to achieve, usually for long distances" />
<field name="HorizontalVelMin" units="m/s" type="float" elements="1" defaultvalue="10" description="Minimum speed the autopilot will try to fly, for example when loitering" />
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="10" description="maximum allowed climb or sink rate in guided flight" />
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
<!-- how many seconds to plan the flight vector ahead when initiating necessary heading changes - increase for planes with sluggish response -->
<field name="ReverseCourseOverlap" units="deg" type="float" elements="1" defaultvalue="20.0"/>
<!-- how big the overlapping area behind the plane is, where, if the desired course lies behind, the current bank angle will determine if the plane goes left or right -->
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0" description="how many seconds to plan the flight vector ahead when initiating necessary heading changes - increase for planes with sluggish response" />
<field name="ReverseCourseOverlap" units="deg" type="float" elements="1" defaultvalue="20.0" description="how big the overlapping area behind the plane is, where, if the desired course lies in, the plane will not change bank angle while turning (to prevent oscillation)" />
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2"/>
<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4"/>
<!-- proportional coefficient for desired vertical speed in relation to altitude displacement-->
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2" description="proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations" />
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4" description="proportional coefficient for desired vertical speed in relation to altitude displacement - reduce if plane is oscillating vertically, increase if altitude is not held reliably" />
<field name="UseAirspeedSensor" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<!-- allows to ignore the airspeed sensor, set to false if you have none, which will trigger fallback algorithm without indicating a fault -->
<field name="UseAirspeedSensor" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="allows to ignore the airspeed sensor, set to false if you have none, which will trigger fallback algorithm without indicating a fault" />
<!-- these coefficients control actual control outputs -->
<field name="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2, 0, 0"/>
<!-- coefficients for desired bank angle in relation to ground bearing error - this controls heading -->
<field name="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2,0,0" description="coefficients for desired bank angle in relation to ground bearing error - this controls heading" />
<field name="SpeedPI" units="deg / (m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="2.5, .25, 10"/>
<!-- coefficients for desired pitch
in relation to speed error IASerror -->
<field name="VerticalToPitchCrossFeed" units="deg / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="5, 10"/>
<!-- coefficients for adjusting desired pitch
in relation to "vertical speed error -->
<field name="AirspeedToPowerCrossFeed" units="1 / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="0.2, 1"/>
<!-- proportional coefficient for adjusting vertical speed error for power calculation
in relation to airspeed error IASerror -->
<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.01,0.05,0.5"/>
<!-- proportional coefficient for desired thrust
in relation to vertical speed error (absolute but including crossfeed) -->
<field name="SpeedPI" units="deg / (m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,.25,10" description="coefficients for desired pitch in relation to speed error" />
<field name="VerticalToPitchCrossFeed" units="deg / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="5,10" description="coefficients for adjusting desired pitch in relation to vertical speed error" />
<field name="AirspeedToPowerCrossFeed" units="1 / (m/s)" type="float" elementnames="Kp,Max" defaultvalue="0.2,1" description="proportional coefficient for adjusting vertical speed error for power calculation in relation to airspeed error" />
<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.01,0.05,0.5" description="proportional coefficient for desired thrust in relation to vertical speed error (absolute but including crossfeed)" />
<!-- output limits -->
<field name="RollLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-45,0,45" />
<!-- maximum allowed bank angles in navigates flight -->
<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,20" />
<!-- maximum allowed pitch angles and setpoint for neutral pitch -->
<field name="ThrustLimit" units="" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="0.1,0.5,0.9" />
<!-- minimum and maximum allowed thrust and setpoint for cruise speed -->
<field name="Safetymargins" units="" type="float"
elementnames="Wind, Stallspeed, Lowspeed, Highspeed, Overspeed, Lowpower, Highpower, Rollcontrol, Pitchcontrol"
defaultvalue="1, 1.0, 0.5, 1.5, 1.0, 1, 0, 1, 1" />
<!-- Wind: degrees of crabbing allowed
Speeds: percentage (1.0=100%) of the limit to be over/onder
Power & Control: flag to turn on/off 0.0 =off 1.0 = on -->
<field name="RollLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-45,0,45" description="maximum allowed bank angles in navigates flight" />
<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,20" description="maximum allowed pitch angles and setpoint for neutral pitch" />
<field name="ThrustLimit" units="" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="0.1,0.5,0.9" description="minimum and maximum allowed thrust and setpoint for cruise speed" />
<field name="Safetymargins" units="" type="float"
elementnames="Wind,Stallspeed,Lowspeed,Highspeed,Overspeed,Lowpower,Highpower,Rollcontrol,Pitchcontrol"
defaultvalue="1,1.0,0.5,1.5,1.0,1,0,1,1"
description="Wind: degrees of crabbing allowed -- Speeds: percentage (1.0=100%) of the limit to be over/under -- Power &amp; Control: flag to turn on/off 0.0=off 1.0 = on" />
<field name="SafetyCutoffLimits" units="" type="float"
elementnames="RollDeg,PitchDeg,YawDeg,MaxDecelerationDeltaMPS" defaultvalue="25.0, 25.0, 25.0, 4.0" />
<!-- maximum margins from attempted attitude allowed during takeoff
In flight Roll/Pitch are added to RollLimit/PitchLimit as max limits - throttle is cut when beyond
if roll > RollLimit.Max + TakeOffLimits.RollDeg
the same happens when MaxDecelerationDeltaMPS below Lowspeed limit
if speed < Safetymargins.Lowspeed*HorizontalVelMin - TakeOffLimits.MaxDecelerationDeltaMPS -->
elementnames="RollDeg,PitchDeg,YawDeg,MaxDecelerationDeltaMPS" defaultvalue="25.0,25.0,25.0,4.0"
description="maximum margins from attempted attitude allowed during takeoff -- In flight Roll/Pitch are added to RollLimit/PitchLimit as max limits - throttle is cut when beyond if roll &gt; RollLimit.Max + TakeOffLimits.RollDeg the same happens when MaxDecelerationDeltaMPS below Lowspeed limit if speed &lt; Safetymargins.Lowspeed*HorizontalVelMin - TakeOffLimits.MaxDecelerationDeltaMPS" />
<field name="TakeOffPitch" units="deg" type="float" elements="1" defaultvalue="25.0"/>
<field name="LandingPitch" units="deg" type="float" elements="1" defaultvalue="7.5"/>
<field name="TakeOffPitch" units="deg" type="float" elements="1" defaultvalue="25.0" description="pitch angle in autotakeoff mode" />
<field name="LandingPitch" units="deg" type="float" elements="1" defaultvalue="7.5" description="pitch angle in autoland mode" />
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100" description="update period of pathfollower" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/flightmodesettings.xml
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@ -94,7 +94,7 @@
<field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
<field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="wether a path plan should continue when interrupted by flight mode change (False), or restart from waypoint 0 (True)"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>