Control Loops - Revision history

MJ: /* General Information */

2020-08-05T18:30:05Z

General Information

← Older revision		Revision as of 12:30, 5 August 2020
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	The variables' names are the ones used in the airborne code (written in '''C'''). Most of these can be used, all caps, in the [[Airframe Configuration]] file in order to define the default values of these variables. If you see all capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.		The variables' names are the ones used in the airborne code (written in '''C'''). Most of these can be used, all caps, in the [[Airframe Configuration]] file in order to define the default values of these variables. If you see all capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

	The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.		The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in <tt>var/<AIRCRAFT_NAME>/<TARGET>/generated/flight_plan.h</tt>.

	= Fixed-wing autopilot =		= Fixed-wing autopilot =

Matejkarasek: /* Guidance horizontal navigation loop */

2019-02-07T16:37:35Z

Guidance horizontal navigation loop

← Older revision		Revision as of 10:37, 7 February 2019
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	The code for this loop is located in '''guidance/guidance_h.c'''		The code for this loop is located in '''guidance/guidance_h.c'''

			In v 5.14 (and probably even earlier), the integral action is implemented differently: the output of the PD controller is integrated, and the integral value thus represents the attitude trim.

	[[Category:Software]] [[Category:Developer_Documentation]]		[[Category:Software]] [[Category:Developer_Documentation]]

Matejkarasek: /* Guidance horizontal hover loop */

2019-02-07T16:36:57Z

Guidance horizontal hover loop

← Older revision		Revision as of 10:36, 7 February 2019
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	[[Image:guidance_horizontal_hover.png]]		[[Image:guidance_horizontal_hover.png]]

	The code for this loop is located in '''guidance/guidance_h.c'''.		The code for this loop is located in '''guidance/guidance_h.c'''.

			In v 5.14 (and probably even earlier), the integral action is implemented differently: the output of the PD controller is integrated, and the integral value thus represents the attitude trim.

	== Guidance horizontal navigation loop ==		== Guidance horizontal navigation loop ==

Matejkarasek: Added motor mixing link

2017-11-28T12:50:05Z

Added motor mixing link

← Older revision		Revision as of 06:50, 28 November 2017
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	The code for this autopilot is located in '''sw/airborne/firmwares/rotorcraft'''.		The code for this autopilot is located in '''sw/airborne/firmwares/rotorcraft'''.

			Since v5.0, the Supervision was replaced by [[Rotorcraft_Configuration\|Motor mixing]]. Alternatively, the stabilization commands can also be directly used in the [[Airframe_Configuration#Servos\|servo command laws]].

	== Vertical Control ==		== Vertical Control ==

Flixr: /* Auto Throttle and Auto Pitch climb loops */

2015-02-05T10:41:38Z

Auto Throttle and Auto Pitch climb loops

← Older revision		Revision as of 04:41, 5 February 2015
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	== Auto Throttle and Auto Pitch climb loops ==		== Auto Throttle and Auto Pitch climb loops ==

	Two climb loops are available. The are called from the [[Flight Plans#Navigation_modes\|flight plan]] by changing the vertical navigation mode. The default mode is '''Auto Throttle'''. The '''Auto Pitch''' loop is only available if '''V_CTL_AUTO_PITCH_PGAIN''' is defined. Only one loop is active at a time. Note also that if '''USE_AIRSPEED''' is defined, then the Auto Throttle loop is replaced by the Auto Airspeed loop, see [Control_Loops#Control_loops_using_Airspeed_Sensor\|below].		Two climb loops are available. The are called from the [[Flight Plans#Navigation_modes\|flight plan]] by changing the vertical navigation mode. The default mode is '''Auto Throttle'''. The '''Auto Pitch''' loop is only available if '''V_CTL_AUTO_PITCH_PGAIN''' is defined. Only one loop is active at a time. Note also that if '''USE_AIRSPEED''' is defined, then the Auto Throttle loop is replaced by the Auto Airspeed loop, see [[Control_Loops#Control_loops_using_Airspeed_Sensor\|below]].

	=== Auto throttle loop ===		=== Auto throttle loop ===

Dconger: /* General Information */

2015-01-23T13:00:42Z

General Information

← Older revision		Revision as of 07:00, 23 January 2015
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	In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.		In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.

	The variables' names are the ones used in the airborne code (written in '''C'''). Most of ~~this name~~ can ~~the~~ used ~~capitalized~~ in the [[Airframe Configuration]] file in order to define the default ~~value~~ of these variables. If in capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.		The variables' names are the ones used in the airborne code (written in '''C'''). Most of these can be used, all caps, in the [[Airframe Configuration]] file in order to define the default values of these variables. If you see all capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

	The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.		The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.

Dconger: /* General Information */

2015-01-23T12:54:58Z

General Information

← Older revision		Revision as of 06:54, 23 January 2015
Line 7:		Line 7:
	In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.		In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.

	The variables' names are the ~~one~~ used in the airborne code (written in '''C'''). Most of this name can the used capitalized in the [[Airframe Configuration]] file in order to define the default value of these variables. If in capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.		The variables' names are the ones used in the airborne code (written in '''C'''). Most of this name can the used capitalized in the [[Airframe Configuration]] file in order to define the default value of these variables. If in capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

	The ~~best~~ way to determine vehicle behavior is to look at the source code. ~~For~~ determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.		The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.

	= Fixed-wing autopilot =		= Fixed-wing autopilot =

Dconger: /* Global view */ changed 'th' to 'the' spelling fix

2014-11-03T20:18:54Z

Global view: changed 'th' to 'the' spelling fix

← Older revision		Revision as of 14:18, 3 November 2014
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	[[Image:Diagram_general.png\|General overview]]		[[Image:Diagram_general.png\|General overview]]

	The elements '''servos''', '''rc_commands''', '''commands''' and '''command_laws''' correspond to specific section of the [[Airframe Configuration]] file. Most of the code located in these blocks is generated from the xml of th configuration file.		The elements '''servos''', '''rc_commands''', '''commands''' and '''command_laws''' correspond to specific section of the [[Airframe Configuration]] file. Most of the code located in these blocks is generated from the xml of the configuration file.

	The value '''+/-9600''' correspond to '''+/-MAX_PPRZ'''. This '''pprz''' unit is used as a normalized internal unit for input and output values of the '''control_laws''' block.		The value '''+/-9600''' correspond to '''+/-MAX_PPRZ'''. This '''pprz''' unit is used as a normalized internal unit for input and output values of the '''control_laws''' block.

Alonsoac: /* mode: GUIDANCE_V_MODE_HOVER */

2014-05-10T05:37:23Z

mode: GUIDANCE_V_MODE_HOVER

← Older revision		Revision as of 23:37, 9 May 2014
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	[[File:Climb.png]]		[[File:Climb.png]]

	=== mode: GUIDANCE_V_MODE_HOVER ===		=== mode: GUIDANCE_V_MODE_HOVER (altitude control) ===
	[[File:Z_hold.png]]		[[File:Z_hold.png]]

Alonsoac: /* mode: GUIDANCE_V_MODE_CLIMB */

2014-05-10T05:37:07Z

mode: GUIDANCE_V_MODE_CLIMB

← Older revision		Revision as of 23:37, 9 May 2014
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	[[File:Rc_climb.png]]		[[File:Rc_climb.png]]

	=== mode: GUIDANCE_V_MODE_CLIMB ===		=== mode: GUIDANCE_V_MODE_CLIMB (speed control) ===
	[[File:Climb.png]]		[[File:Climb.png]]