stabilization_andi

Full ANDI stabilization controller for rotorcraft

Configures
Name	Value	Description
ANDI_OUTPUTS
ANDI_NUM_ACT

Section STABILIZATION_ATTITUDE_ANDI
STABILIZATION_ANDI_
Name	Value	Description
SCHEDULE_EFF	0	1 to schedule control effectiveness based on throttle command. 0 uses ACT_PREF to compute constant control effectiveness
USE_STATE_DYNAMICS	0	1 to use obm state derivative term, 0 to neglect this term.
RELAX_OBM	1.0f	relaxation factor for obm state derivative contribution.
ACT_IS_SERVO	{0, 0, 0, 0}	1 for every actuator that is a servo
ACT_DYNAMICS		actuator bandwidth [rad/s]
ACT_DELAY		actuator transport delay [samples]
ACT_MAX		maximum actuator value [SI units]
ACT_MIN		maximum actuator value [SI units]
ACT_RATE_MAX		minimum actuator rate [SI units]
ACT_RATE_MIN		minimum actuator rate [SI units]
ACT_PREF	{0.0, 0.0, 0.0, 0.0}	preferred actuator value used for unscheduled control effectiveness
WLS_WV	{1000, 1000, 1, 100}	WLS control objective priorities: roll, pitch, yaw, thrust (size of ANDI_OUTPUTS)
WLS_WU	{1, 1, 1, 1}	WLS actuator cost (size of ANDI_NUM_ACT)

Depends