mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.9 KiB
C
115 lines
3.9 KiB
C
/*
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* QuadArducopter.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 QUADARDUCOPTER_H_
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#define QUADARDUCOPTER_H_
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// vehicle options
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static const MAV_TYPE vehicle = MAV_QUADROTOR;
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//static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
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static const apo::halMode_t halMode = apo::MODE_LIVE;
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static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
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static const uint8_t heartBeatTimeout = 0;
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// algorithm selection
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#define CONTROLLER_CLASS ControllerQuad
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#define GUIDE_CLASS MavlinkGuide
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#define NAVIGATOR_CLASS DcmNavigator
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#define COMMLINK_CLASS MavlinkComm
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// hardware selection
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#define ADC_CLASS AP_ADC_ADS7844
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#define COMPASS_CLASS AP_Compass_HMC5843
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#define BARO_CLASS APM_BMP085_Class
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#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
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// baud rates
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static const uint32_t debugBaud = 57600;
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static const uint32_t telemBaud = 57600;
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static const uint32_t gpsBaud = 38400;
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static const uint32_t hilBaud = 115200;
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// optional sensors
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static const bool gpsEnabled = true;
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static const bool baroEnabled = true;
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static const bool compassEnabled = true;
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static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
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// compass orientation: See AP_Compass_HMC5843.h for possible values
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// battery monitoring
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static const bool batteryMonitorEnabled = true;
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static const uint8_t batteryPin = 0;
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static const float batteryVoltageDivRatio = 6;
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static const float batteryMinVolt = 10.0;
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static const float batteryMaxVolt = 12.4;
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static const bool rangeFinderFrontEnabled = false;
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static const bool rangeFinderBackEnabled = false;
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static const bool rangeFinderLeftEnabled = false;
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static const bool rangeFinderRightEnabled = false;
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static const bool rangeFinderUpEnabled = false;
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static const bool rangeFinderDownEnabled = false;
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// loop rates
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static const float loopRate = 200; // attitude nav
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static const float loop0Rate = 50; // controller
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static const float loop1Rate = 10; // 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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// position control loop
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static const float PID_TILT_P = 0.1;
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static const float PID_TILT_I = 0;
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static const float PID_TILT_D = 0.1;
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static const float PID_TILT_LIM = 0.04; // about 2 deg
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static const float PID_TILT_AWU = 0.02; // about 1 deg
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static const float PID_TILT_DFCUT = 10; // cut derivative feedback at 10 hz
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static const float PID_SPD_P = 1;
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static const float PID_SPD_I = 0;
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static const float PID_SPD_D = 0.1;
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static const float PID_SPD_LIM = 0.04; // about 2 deg
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static const float PID_SPD_AWU = 0.02; // about 1 deg
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static const float PID_SPD_DFCUT = 10; // cut derivative feedback at 10 hz
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static const float PID_POS_Z_P = 0.1;
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static const float PID_POS_Z_I = 0;
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static const float PID_POS_Z_D = 0.2;
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static const float PID_POS_Z_LIM = 0.1;
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static const float PID_POS_Z_AWU = 0;
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static const float PID_POS_Z_DFCUT = 10; // cut derivative feedback at 10 hz
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// attitude control loop
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static const float PID_ATT_P = 0.17;
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static const float PID_ATT_I = 0.5;
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static const float PID_ATT_D = 0.06;
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static const float PID_ATT_LIM = 0.05; // 5 % motors
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static const float PID_ATT_AWU = 0.005; // 0.5 %
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static const float PID_ATT_DFCUT = 25; // cut derivative feedback at 25 hz
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static const float PID_YAWPOS_P = 1;
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static const float PID_YAWPOS_I = 0;
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static const float PID_YAWPOS_D = 0.1;
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static const float PID_YAWPOS_LIM = 1; // 1 rad/s
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static const float PID_YAWPOS_AWU = 0; // 1 rad/s
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static const float PID_YAWSPEED_P = 0.5;
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static const float PID_YAWSPEED_I = 0;
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static const float PID_YAWSPEED_D = 0;
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static const float PID_YAWSPEED_LIM = .05; // 5 % motors
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static const float PID_YAWSPEED_AWU = 0.0;
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static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
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static const float THRUST_HOVER_OFFSET = 0.475;
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// guidance
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static const float velCmd = 0.3; // 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 "ControllerQuad.h"
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#endif /* QUADARDUCOPTER_H_ */
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// vim:ts=4:sw=4:expandtab
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