Module/AOA adc
Introduction
AOA_adc is a simple module that is be written to test the flight behaviour with a Angle Of Attacke sensor.
It reads the value of an defined ADC port and converts it to and angle.
Implementation option A
A mode variable named h_ctl_pitch_mode in the stabilization_attitude.c enables to switch between estimator_theta (IMU) and estimator_AOA to control the elevator.
Measurements
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Hardware
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Angle of Attack ADC Sensor
- US DIGITAL MA3-A10-236-N
If you are using the analog version of this sensor, be sure to connect it to a 5V tolerant ADC on you autopilot. For instance ADC2 on Lisa/M is not 5V tolerant, so a voltage divider is needed to scale the signal down to 3.3V. ModuleXML
- AOA_adc.xml
Code- and headerfile
- sw/airborne/modules/sensors
Settings file
- AOA_adc.xml
Airframe Adjustments
- (1) Insert the software module in the airframe:
<modules>
<load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_6"/>
<define name="AOA_OFFSET" value="-0.135000005364"/>
<define name="AOA_FILTER" value="0.875999987125"/>
<define name="USE_AOA"/>
</load>
</modules>
- Legend:
- The ACS_AOA defines on whitch port the US Digital Sensor is connected to.
- The AOA_OFFSET is needed to adjust the Zero rad mark in the normal flightposition. It can be changed with the AOA_adc.xml settings loaded.
- The AOA_FILTER describes the PT1 filter value of the angle. 0 = no filter
- Define USE_AOA to make the module work.
- (2) Load the settings XML in the GCS: AOA_adc.xml
- (3) Now you can turn on the pitch stabilization by setting the PITCH_Mode to 1
- PITCH_Mode = 0 --> estimator_thata from IMU (default)