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Code Issues Releases Activity

OP-1036: rename some settings and move them in the right place

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tags: de-kenzification
This commit is contained in:
Corvus Corax 2013-07-10 15:55:12 +02:00
parent 27eadc200b
commit c1f32e9beb
4 changed files with 33 additions and 35 deletions
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42
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
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@ -255,10 +255,10 @@ static void updatePathVelocity()
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
// look ahead fixedwingpathfollowerSettings.HeadingFeedForward seconds
float cur[3] = { positionState.North + (velocityState.North * fixedwingpathfollowerSettings.HeadingFeedForward),
positionState.East + (velocityState.East * fixedwingpathfollowerSettings.HeadingFeedForward),
positionState.Down + (velocityState.Down * fixedwingpathfollowerSettings.HeadingFeedForward) };
// look ahead fixedwingpathfollowerSettings.CourseFeedForward seconds
float cur[3] = { positionState.North + (velocityState.North * fixedwingpathfollowerSettings.CourseFeedForward),
positionState.East + (velocityState.East * fixedwingpathfollowerSettings.CourseFeedForward),
positionState.Down + (velocityState.Down * fixedwingpathfollowerSettings.CourseFeedForward) };
struct path_status progress;
path_progress(pathDesired.Start, pathDesired.End, cur, &progress, pathDesired.Mode);
@ -384,6 +384,7 @@ static uint8_t updateFixedDesiredAttitude()
StabilizationSettingsData stabSettings;
FixedWingPathFollowerStatusData fixedwingpathfollowerStatus;
AirspeedStateData airspeedState;
SystemSettingsData systemSettings;
float groundspeedState;
float groundspeedDesired;
@ -408,6 +409,7 @@ static uint8_t updateFixedDesiredAttitude()
AttitudeStateGet(&attitudeState);
StabilizationSettingsGet(&stabSettings);
AirspeedStateGet(&airspeedState);
SystemSettingsGet(&systemSettings);
/**
@ -424,8 +426,8 @@ static uint8_t updateFixedDesiredAttitude()
// Desired ground speed
groundspeedDesired = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East);
indicatedAirspeedDesired = bound(groundspeedDesired + indicatedAirspeedStateBias,
fixedwingpathfollowerSettings.BestClimbRateSpeed,
fixedwingpathfollowerSettings.CruiseSpeed);
fixedwingpathfollowerSettings.HorizontalVelMin,
fixedwingpathfollowerSettings.HorizontalVelMax);
// Airspeed error
airspeedError = indicatedAirspeedDesired - indicatedAirspeedState;
@ -446,23 +448,19 @@ static uint8_t updateFixedDesiredAttitude()
// Error condition: plane too slow or too fast
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHSPEED] = 0;
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 0;
if (indicatedAirspeedState > fixedwingpathfollowerSettings.AirSpeedMax) {
if (indicatedAirspeedState > systemSettings.AirSpeedMax) {
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_OVERSPEED] = 1;
result = 0;
}
if (indicatedAirspeedState > fixedwingpathfollowerSettings.CruiseSpeed * 1.2f) {
if (indicatedAirspeedState > fixedwingpathfollowerSettings.HorizontalVelMax * 1.2f) {
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHSPEED] = 1;
result = 0;
}
if (indicatedAirspeedState < fixedwingpathfollowerSettings.BestClimbRateSpeed * 0.8f && 1) { // The next three && 1 are placeholders for UAVOs representing LANDING and TAKEOFF
if (indicatedAirspeedState < fixedwingpathfollowerSettings.HorizontalVelMin * 0.8f) {
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 1;
result = 0;
}
if (indicatedAirspeedState < fixedwingpathfollowerSettings.StallSpeedClean && 1 && 1) { // Where the && 1 represents the UAVO that will control whether the airplane is prepped for landing or not
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_STALLSPEED] = 1;
result = 0;
}
if (indicatedAirspeedState < fixedwingpathfollowerSettings.StallSpeedDirty && 1) {
if (indicatedAirspeedState < systemSettings.AirSpeedMin) {
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_STALLSPEED] = 1;
result = 0;
}
@ -487,7 +485,7 @@ static uint8_t updateFixedDesiredAttitude()
// Compute the cross feed from vertical speed to pitch, with saturation
float speedErrorToPowerCommandComponent = bound(
(airspeedError / fixedwingpathfollowerSettings.BestClimbRateSpeed) * fixedwingpathfollowerSettings.AirspeedToPowerCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOPOWERCROSSFEED_KP],
(airspeedError / fixedwingpathfollowerSettings.HorizontalVelMin) * fixedwingpathfollowerSettings.AirspeedToPowerCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOPOWERCROSSFEED_KP],
-fixedwingpathfollowerSettings.AirspeedToPowerCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOPOWERCROSSFEED_MAX],
fixedwingpathfollowerSettings.AirspeedToPowerCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOPOWERCROSSFEED_MAX]
);
@ -584,15 +582,15 @@ static uint8_t updateFixedDesiredAttitude()
bearingError -= 360.0f;
}
bearingIntegral = bound(bearingIntegral + bearingError * dT * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KI],
-fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT],
fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT]);
bearingCommand = (bearingError * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KP] +
bearingIntegral = bound(bearingIntegral + bearingError * dT * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KI],
-fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT],
fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT]);
bearingCommand = (bearingError * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KP] +
bearingIntegral);
fixedwingpathfollowerStatus.Error[FIXEDWINGPATHFOLLOWERSTATUS_ERROR_BEARING] = bearingError;
fixedwingpathfollowerStatus.ErrorInt[FIXEDWINGPATHFOLLOWERSTATUS_ERRORINT_BEARING] = bearingIntegral;
fixedwingpathfollowerStatus.Command[FIXEDWINGPATHFOLLOWERSTATUS_COMMAND_BEARING] = bearingCommand;
fixedwingpathfollowerStatus.Error[FIXEDWINGPATHFOLLOWERSTATUS_ERROR_COURSE] = bearingError;
fixedwingpathfollowerStatus.ErrorInt[FIXEDWINGPATHFOLLOWERSTATUS_ERRORINT_COURSE] = bearingIntegral;
fixedwingpathfollowerStatus.Command[FIXEDWINGPATHFOLLOWERSTATUS_COMMAND_COURSE] = bearingCommand;
stabDesired.Roll = bound(fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
bearingCommand,

14
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
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@ -3,20 +3,14 @@
<description>Settings for the @ref FixedWingPathFollowerModule</description>
<!-- these coefficients control desired movement in airspace -->
<field name="AirSpeedMax" units="m/s" type="float" elements="1" defaultvalue="30"/>
<!-- Vne, i.e. maximum airspeed the airframe can handle -->
<field name="CruiseSpeed" units="m/s" type="float" elements="1" defaultvalue="20"/>
<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="BestClimbRateSpeed" units="m/s" type="float" elements="1" defaultvalue="10"/>
<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="StallSpeedClean" units="m/s" type="float" elements="1" defaultvalue="8"/>
<!-- Vs1, i.e. stall speed in clean configuration- leave some safety margin -->
<field name="StallSpeedDirty" units="m/s" type="float" elements="1" defaultvalue="8"/>
<!-- Vs0, i.e. stall speed with flaps and landing gear deployed - leave some safety margin -->
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="10"/>
<!-- maximum allowed climb or sink rate in guided flight-->
<field name="HeadingFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
<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="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
@ -25,7 +19,7 @@
<!-- proportional coefficient for desired vertical speed in relation to altitude displacement-->
<!-- these coefficients control actual control outputs -->
<field name="BearingPI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2, 0, 0"/>
<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="SpeedPI" units="deg / (m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="1.5, .15, 20"/>

6
shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
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@ -1,9 +1,9 @@
<xml>
<object name="FixedWingPathFollowerStatus" singleinstance="true" settings="false" category="Control">
<description>Object Storing Debugging Information on PID internals</description>
<field name="Error" units="" type="float" elementnames="Bearing,Speed,Power" />
<field name="ErrorInt" units="" type="float" elementnames="Bearing,Speed,Power" />
<field name="Command" units="" type="float" elementnames="Bearing,Speed,Power" />
<field name="Error" units="" type="float" elementnames="Course,Speed,Power" />
<field name="ErrorInt" units="" type="float" elementnames="Course,Speed,Power" />
<field name="Command" units="" type="float" elementnames="Course,Speed,Power" />
<field name="Errors" units="" type="uint8" elementnames="Wind,Stallspeed,Lowspeed,Highspeed,Overspeed,Lowpower,Highpower,Pitchcontrol" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

6
shared/uavobjectdefinition/systemsettings.xml
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@ -3,6 +3,12 @@
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="4" defaultvalue="0"/>
<field name="AirSpeedMax" units="m/s" type="float" elements="1" defaultvalue="30"/>
<!-- Vne, i.e. maximum airspeed the airframe can handle - used by autopilot, actuator compensation. as well as possibly by INS for plausibility checks -->
<field name="AirSpeedMin" units="m/s" type="float" elements="1" defaultvalue="10"/>
<!-- Vs0, i.e stall speed - minimum speed the airframe will be able to fly - used by autopilot, actuator compensation, as well as possibly by INS for plausibility check
TODO: currently not used by vtols, needs its default changed to 0 as soon as its used by vtols-->
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>