Module/AOA adc

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Module/AOA adc

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Modules list

MultiUAV

Openlog

Pan Tilt Camera

SDLogger SPI Direct

Sensors/AMSYS

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

{TODO: description}

Hardware

{TODO: image}

Angle of Attack ADC Sensor

• US DIGITAL MA3-A10-236-N

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)