Fixedwing Configuration - Revision history

Jm3389: /* Vertical Control */ POWER_CTL_BAT_NOMINAL

2015-09-14T14:41:56Z

Vertical Control: POWER_CTL_BAT_NOMINAL

← Older revision		Revision as of 08:41, 14 September 2015
Line 217:		Line 217:

	===Vertical Control===		===Vertical Control===
			<source lang="xml">
			<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
			</source>
			This line tells PPZ to automatically adapt the throttle setting to get the same thrust you would get with a 14.8V battery. 50% throttle would alway result in the same thrust setting. If you have a input voltage that is a little less that the defined one it increases the throttle setting to get the same thrust or if the input voltage is a little higher than the defined voltage PPZ will decrease it a little.
	<source lang="xml">		<source lang="xml">
	<section name="VERTICAL CONTROL" prefix="V_CTL_">		<section name="VERTICAL CONTROL" prefix="V_CTL_">

Tobias: /* Control loops */

2015-07-03T12:54:49Z

Control loops

← Older revision		Revision as of 06:54, 3 July 2015
Line 52:		Line 52:
	=== Control loops ===		=== Control loops ===

	The [[~~Control_Loops#Fixed-wing_autopilot~~\|control loops]] can be divided in two independent groups:		The [[Subsystem/control\|control loops]] can be divided in two independent groups:

	* stabilization		* stabilization

Tobias at 12:11, 3 July 2015

2015-07-03T12:11:51Z

@@ Line 52: / Line 52: @@
 === Control loops ===
-The [[Control_Loops#Fixed-wing_autopilot|control loops]] can be divided in two largely independent groups:
+The [[Control_Loops#Fixed-wing_autopilot|control loops]] can be divided in two independent groups:
-* The vertical loop (sw/airborne/firmwares/fixedwing/guidance/guidance_v.c)
-* The horizontal loop (sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c)
+* stabilization
-Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.
+* guidance
 Just specify the appropriate subsystem in your firmware section.
-Currently you can choose between no type (see below) and the types '''adaptive''', '''new''' and  '''[[EnergyControl|energy]]'''.
 {{Box Code|conf/airframes/myplane.xml|
@@ Line 71: / Line 104: @@
      <subsystem name="control" type="new"/>       <!-- new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control -->
      <subsystem name="control" type="energy"/>    <!-- Since v4.1.0 -->
    </firmware>

NeoFromMatrix: /* Select your Board */

2014-05-10T20:20:35Z

Select your Board

← Older revision		Revision as of 14:20, 10 May 2014
Line 5:		Line 5:
	=== Select your Board ===		=== Select your Board ===
	Make sure you use the <b>fixedwing [[Airframe_Configuration#Firmware\|firmware]]</b> and choose the correct board, e.g.		Make sure you use the <b>fixedwing [[Airframe_Configuration#Firmware\|firmware]]</b> and choose the correct board, e.g.

	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="fixedwing">		<firmware name="fixedwing">
	<target name="sim" board="pc"/> <!-- For simulation -->		<target name="sim" board="pc"/> <!-- For simulation -->
	<target name="ap" board="~~twog_1~~.0"/> <!-- Select your board here -->		<target name="ap" board="lisa_m_2.0"/> <!-- Select your board here -->
	...		...
	</firmware>		</firmware>
Line 15:		Line 16:
	}}		}}

	~~You~~ can ~~find the correct value to give for your board on the board [[Autopilots\|specific page]]~~.		The ap board name can be found in /conf/boards.

	=== Attitude and Heading Reference System (AHRS) ===		=== Attitude and Heading Reference System (AHRS) ===

Mbina at 19:30, 15 September 2013

2013-09-15T19:30:02Z

← Older revision		Revision as of 13:30, 15 September 2013
Line 8:		Line 8:
	<source lang="xml">		<source lang="xml">
	<firmware name="fixedwing">		<firmware name="fixedwing">
	<target name="sim" board="pc"/>		<target name="sim" board="pc"/> <!-- For simulation -->
	<target name="ap" board="twog_1.0"/>		<target name="ap" board="twog_1.0"/> <!-- Select your board here -->
	...		...
	</firmware>		</firmware>
	</source>		</source>
	}}		}}

			You can find the correct value to give for your board on the board [[Autopilots\|specific page]].

	=== Attitude and Heading Reference System (AHRS) ===		=== Attitude and Heading Reference System (AHRS) ===
Line 35:		Line 37:
	<source lang="xml">		<source lang="xml">
	<firmware name="fixedwing">		<firmware name="fixedwing">
	<target name="ap" board="tiny_2.11"/>		<target name="ap" board="tiny_2.11"/>
	...		...
	<subsystem name="ahrs" type="infrared"/>		<subsystem name="ahrs" type="infrared"/>
	</firmware>		</firmware>
	<modules>		<modules>
Line 105:		Line 107:
	<source lang="xml">		<source lang="xml">
	<ap_only_commands>		<ap_only_commands>
	<copy command="PAN"/>		<copy command="PAN" />
	<copy command="TILT"/>		<copy command="TILT" />
	<copy command="SHOOT"/>		<copy command="SHOOT" />
	</ap_only_commands>		</ap_only_commands>
	</source>		</source>
Line 115:		Line 117:
	<source lang="xml">		<source lang="xml">
	<section name="AUTO1" prefix="AUTO1_">		<section name="AUTO1" prefix="AUTO1_">
	<define name="MAX_ROLL" value="35" unit="deg"/>		<define name="MAX_ROLL" value="35" unit="deg" />
	<define name="MAX_PITCH" value="5" unit="deg"/>		<define name="MAX_PITCH" value="5" unit="deg" />
	</section>		</section>
	</source>		</source>
Line 149:		Line 151:
	<source lang="xml">		<source lang="xml">
	<section name="GYRO" prefix="GYRO_">		<section name="GYRO" prefix="GYRO_">
	<define name="ADC_ROLL_COEFF" value="1"/>		<define name="ADC_ROLL_COEFF" value="1" />
	<define name="ROLL_NEUTRAL" value="500"/>		<define name="ROLL_NEUTRAL" value="500" />
	<define name="ADC_TEMP_NEUTRAL" value="476"/>		<define name="ADC_TEMP_NEUTRAL" value="476" />
	<define name="ADC_TEMP_SLOPE" value="0"/>		<define name="ADC_TEMP_SLOPE" value="0" />
	</section>		</section>
	</source>		</source>
Line 159:		Line 161:
	<source lang="xml">		<source lang="xml">
	<section name="HORIZONTAL CONTROL" prefix="H_CTL_">		<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
	<define name="COURSE_PGAIN" value="0.4"/>		<define name="COURSE_PGAIN" value="0.4" />
	<define name="ROLL_MAX_SETPOINT" value="20" unit="deg"/>		<define name="ROLL_MAX_SETPOINT" value="20" unit="deg" />
	<define name="ROLL_ATTITUDE_GAIN" value="7500."/>		<define name="ROLL_ATTITUDE_GAIN" value="7500." />
	<define name="ROLL_RATE_GAIN" value="1500"/>		<define name="ROLL_RATE_GAIN" value="1500" />
	<define name="PITCH_PGAIN" value="8000."/>		<define name="PITCH_PGAIN" value="8000." />
	<define name="ELEVATOR_OF_ROLL" value="1250"/>		<define name="ELEVATOR_OF_ROLL" value="1250" />
	</section>		</section>
	</source>		</source>
Line 182:		Line 184:
	<section name="VERTICAL CONTROL" prefix="V_CTL_">		<section name="VERTICAL CONTROL" prefix="V_CTL_">
	<!-- outer loop proportional gain -->		<!-- outer loop proportional gain -->
	<define name="ALTITUDE_PGAIN" value="0.1" unit="(m/s)/m"/>		<define name="ALTITUDE_PGAIN" value="0.1" unit="(m/s)/m" />
	<!-- outer loop saturation -->		<!-- outer loop saturation -->
	<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>		<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s" />
	</source>		</source>
	These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c. These are outer loop parameters that calculate a desired climb rate based on altitude error. Here, if the altitude error is 10m, the climb setpoint will be set to 1m/s. ALTITUDE_MAX_CLIMB is a bounded value (in m/s) so that the outer loop does not calculate too large of a climb rate		These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c. These are outer loop parameters that calculate a desired climb rate based on altitude error. Here, if the altitude error is 10m, the climb setpoint will be set to 1m/s. ALTITUDE_MAX_CLIMB is a bounded value (in m/s) so that the outer loop does not calculate too large of a climb rate
	<source lang="xml">		<source lang="xml">
	<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>		<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%" />
	<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%"/>		<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%" />
	<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%"/>		<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%" />
	<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>		<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t" />
	<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t~~"/>~~		<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t" />
	~~<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)~~"/>
	<define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>		<define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>
	<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>		<define name="AUTO_THROTTLE_IGAIN" value="0.25" />
	<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35" unit="rad/(m/s)"/>		<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35" unit="rad/(m/s)" />
			<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)" />
	</source>		</source>

Line 222:		Line 224:
	<source lang="xml">		<source lang="xml">
	<section name="MISC">		<section name="MISC">
	<define name="NOMINAL_AIRSPEED" value ="12." unit="m/s"/>		<define name="NOMINAL_AIRSPEED" value ="12.0" unit="m/s" />
	<define name="~~CARROT~~" value="5." unit="s"/>		<define name="CONTROL_RATE" value="60" unit="Hz"/>
	<define name="~~KILL_MODE_DISTANCE~~" value="(1.~~5*MAX_DIST_FROM_HOME)~~"/>		<define name="CARROT" value="5.0" unit="s" />
	<define name="~~CONTROL_RATE~~" value="~~60" unit="Hz~~"/>		<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
	</section>		</section>
	</source>		</source>
Line 238:		Line 240:
	<section name="SIMU">		<section name="SIMU">
	<define name="WEIGHT" value ="1."/>		<define name="WEIGHT" value ="1."/>
	<define name="YAW_RESPONSE_FACTOR" value ="1."/>		<define name="YAW_RESPONSE_FACTOR" value ="1."/>
	<define name="ROLL_RESPONSE_FACTOR" value ="15."/>		<define name="ROLL_RESPONSE_FACTOR" value ="15."/>
	</section>		</section>

Mbina: added general AHRS info; minor changes;

2013-09-15T19:20:13Z

added general AHRS info; minor changes;

← Older revision		Revision as of 13:20, 15 September 2013
Line 15:		Line 15:
	}}		}}

	=== Infrared Sensors ===		=== Attitude and Heading Reference System (AHRS) ===

			Next the filter for attitude estimation needs to be selected, where
			the tratidtional approach is to use infrared sensors (see blow).
			To select the type of [[Subsystem/ahrs\|AHRS]] use the subsystem-tag as follows:
			{{Box Code\|conf/airframes/myplane.xml\|
			<source lang="xml">
			<firmware name="fixedwing">
			<target name="ap" board="tiny_2.11"/>
			...
			<subsystem name="ahrs" type="int_cmpl_quat"/>
			</firmware>
			</source>
			}}

			==== Infrared Sensors ====
	To use the IR sensors for attitude estimation add the infrared module and ahrs infrared subsystem:		To use the IR sensors for attitude estimation add the infrared module and ahrs infrared subsystem:
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|
Line 34:		Line 49:
	=== Control loops ===		=== Control loops ===

	The [[Control_Loops#Fixed-wing_autopilot\|control loops]] can be divided in two largely independent groups : ~~the~~ vertical ~~ones and the horizontal ones~~ (~~standard files~~ sw/airborne/firmwares/fixedwing/guidance/guidance_v.c ~~and~~ sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c ). Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.		The [[Control_Loops#Fixed-wing_autopilot\|control loops]] can be divided in two largely independent groups:
			* The vertical loop (sw/airborne/firmwares/fixedwing/guidance/guidance_v.c)
			* The horizontal loop (sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c)
			Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.

			Just specify the appropriate subsystem in your firmware section.
			Currently you can choose between no type (see below) and the types '''adaptive''', '''new''' and '''[[EnergyControl\|energy]]'''.

	~~Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''', '''new''' and '''[[EnergyControl\|energy]]'''.~~
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="fixedwing">		<firmware name="fixedwing">
	<target name="ap" board="tiny_2.11"/>		<target name="ap" board="tiny_2.11"/>
	...		...
	<subsystem name="control"/> <!--Standard fixed wing control loops -->		<subsystem name="control" /> <!-- Standard fixed wing control loops -->

	<!-- Different control loop types can be enabled instead (Use only one) -->		<!-- Different control loop types can be enabled instead (Use only one) -->
	<subsystem name="control" type="adaptive"/> <!--fixed wing control loops with adaptive horizontal control, standard vertical control-->		<subsystem name="control" type="adaptive"/> <!-- fixed wing control loops with adaptive horizontal control, standard vertical control -->
	<subsystem name="control" type="new"/> <!--new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control-->		<subsystem name="control" type="new"/> <!-- new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control -->
	<subsystem name="control" type="energy"/> <!-- Since v4.1.0 -->		<subsystem name="control" type="energy"/> <!-- Since v4.1.0 -->

	</firmware>		</firmware>

Loic drumettaz: /* Control loops */

2013-08-01T15:04:26Z

Control loops

← Older revision		Revision as of 09:04, 1 August 2013
Line 42:		Line 42:
	<target name="ap" board="tiny_2.11"/>		<target name="ap" board="tiny_2.11"/>
	...		...
	<subsystem name="control"/>		<subsystem name="control"/> <!--Standard fixed wing control loops -->

	<!-- Different control loop types can be enabled instead (Use only one) -->		<!-- Different control loop types can be enabled instead (Use only one) -->
	<subsystem name="control" type="adaptive"/>		<subsystem name="control" type="adaptive"/> <!--fixed wing control loops with adaptive horizontal control, standard vertical control-->
	<subsystem name="control" type="new"/>		<subsystem name="control" type="new"/> <!--new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control-->
	<subsystem name="control" type="energy"/> <!-- Since v4.1.0 -->		<subsystem name="control" type="energy"/> <!-- Since v4.1.0 -->

Cdewagter at 12:05, 26 October 2012

2012-10-26T12:05:53Z

← Older revision		Revision as of 06:05, 26 October 2012
Line 36:		Line 36:
	The [[Control_Loops#Fixed-wing_autopilot\|control loops]] can be divided in two largely independent groups : the vertical ones and the horizontal ones (standard files sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c ). Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.		The [[Control_Loops#Fixed-wing_autopilot\|control loops]] can be divided in two largely independent groups : the vertical ones and the horizontal ones (standard files sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c ). Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.

	Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''' and '''~~new~~'''.		Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''', '''new''' and '''[[EnergyControl\|energy]]'''.
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">

Ghattenb: /* XML Parameters */

2012-10-24T12:54:11Z

XML Parameters

← Older revision		Revision as of 06:54, 24 October 2012
Line 55:		Line 55:
	== XML Parameters ==		== XML Parameters ==

	~~=== Commands ===~~

	~~The <b><tt>commands</tt></b> lists the abstract commands you need to control the aircraft. In our example, we have only three:~~
	~~<source lang="xml">~~
	~~<commands>~~
	~~<axis name="THROTTLE" failsafe_value="0"/>~~
	~~<axis name="ROLL" failsafe_value="0"/>~~
	~~<axis name="PITCH" failsafe_value="0"/>~~
	~~</commands>~~
	~~</source>~~

	Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <b><tt>servo</tt></b> definition the <b><tt>neutral</tt></b> and <b><tt>min</tt></b> are usually the same (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

	~~=== Servos ===~~

	The above commands get translated to the <b><tt>servos</tt></b> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <b><tt>servos</tt></b> section:
	~~<source lang="xml">~~
	~~<servos>~~
	~~<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>~~
	~~<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>~~
	~~<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>~~
	~~</servos>~~
	~~</source>~~
	Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <b><tt>neutral</tt></b> and <b><tt>min</tt></b>.

	~~Note the following important tips:~~
	* Reverse the servo direction by exchanging min/max
	* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
	* Any reduction of the total travel range should be done mechanically to maintain precision
	* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
	* Board connector numbering starts with <b>zero (0)</b> not with one
	* Servos are also known under the synonym <b>actuators</b>

	~~The <b><tt>servos</tt></b> are then linked to the commands in the <b><tt>command_laws</tt></b> section:~~
	~~<source lang="xml">~~
	~~<command_laws>~~
	~~<let var="aileron" value="@ROLL * 0.3"/>~~
	~~<let var="elevator" value="@PITCH * 0.7"/>~~
	~~<set servo="THROTTLE" value="@THROTTLE"/>~~
	~~<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>~~
	~~<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>~~
	~~</command_laws>~~
	~~</source>~~

	~~[[Image:airframe_sign_conventions.jpg\|thumb\|Sign conventions for flight dynamics]]~~
	where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <b><tt>let</tt></b> element. The '''@''' symbol is used to reference a command value in the <b><tt>value</tt></b> attribute of the <b><tt>set</tt></b> and <b><tt>let</tt></b> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.


	~~Note that the signs used in the description follow the standard convention.~~

	=== Manual ===		=== Manual ===

TilmanBaumann: /* Control loops */ introduce control loop types syntax

2012-10-18T16:48:33Z

Control loops: introduce control loop types syntax

← Older revision		Revision as of 10:48, 18 October 2012
Line 42:		Line 42:
	<target name="ap" board="tiny_2.11"/>		<target name="ap" board="tiny_2.11"/>
	...		...
	<subsystem name="control"/>		<subsystem name="control"/>

			<!-- Different control loop types can be enabled instead (Use only one) -->
			<subsystem name="control" type="adaptive"/>
			<subsystem name="control" type="new"/>
			<subsystem name="control" type="energy"/> <!-- Since v4.1.0 -->

	</firmware>		</firmware>
	</source>		</source>
	}}		}}


	== XML Parameters ==		== XML Parameters ==