mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.0 KiB
C++
103 lines
3.0 KiB
C++
/*
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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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