guidance_indi_hybrid
Common guidance controller code for hybrids using INDI: in your airframe file include one of the options: - guidance_indi_hybid_tailsitter - guidance_indi_hybid_quadplane
GUIDANCE_INDI_ |
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|---|---|---|
Name |
Value |
Description |
USE_WLS |
FALSE|TRUE |
use WLS allocation instead of matrix inversion (default: FALSE) |
WLS_PRIORITIES |
{100., 100., 1.} |
WLS priorities on control objectives |
WLS_WU |
{1., 1., 1.} |
WLS weighting on outputs |
MAX_LAT_ACCEL |
9.81 |
Maximal Lateral Acceleration (in the Body-y Direction) |
COORDINATED_TURN_MIN_AIRSPEED |
10.0 |
Yaw-rate computations based on airspeed are dividing by the airspeed, so a lower bound is important |
COORDINATED_TURN_MAX_AIRSPEED |
30.0 |
Maximum airspeed in yaw-rate computations |
COORDINATED_TURN_AIRSPEED_MARGIN |
0.0 |
Margin above maximum speed where we are sure the sensor reading is false |
Depends
- @navigation
- guidance_rotorcraft
- wls