stabilization_indi
Full INDI stabilization controller for rotorcraft
Name |
Value |
Description |
---|---|---|
INDI_OUTPUTS |
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INDI_NUM_ACT |
Name |
Value |
Description |
---|---|---|
TILT_TWIST_CTRL |
FALSE|TRUE |
assume twist is slower than tilt and solve separately |
STABILIZATION_ATTITUDE_ |
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---|---|---|
Name |
Value |
Description |
SP_MAX_PHI |
45. |
max setpoint for roll angle |
SP_MAX_THETA |
45. |
max setpoint for pitch angle |
SP_MAX_R |
90. |
max setpoint for yaw rate |
DEADBAND_R |
250 |
deadband on yaw rate input |
STABILIZATION_INDI_ |
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---|---|---|
Name |
Value |
Description |
ALLOCATION_PSEUDO_INVERSE |
FALSE|TRUE |
Master setting: leave false for WLS allocation, and use TRUE if not overactuated and no WLS |
G1_ROLL |
{20 , -20, -20 , 20 } |
control effectiveness of every actuator on the roll axis |
G1_PITCH |
{14 , 14, -14 , -14 } |
control effectiveness of every actuator on the pitch axis |
G1_YAW |
{-1, 1, -1, 1} |
control effectiveness of every actuator on the yaw axis |
G1_THRUST |
{-.4, -.4, -.4, -.4} |
control effectiveness of every actuator on the thrust axis |
G2 |
{-60.0, 60.0, -60.0, 60.0} |
control effectiveness of every actuator derivative on the yaw axis (important for propellers with strong torque changes) |
REF_ERR_P |
600.0 |
INDI gains linear controller |
REF_ERR_Q |
600.0 |
INDI gains linear controller |
REF_ERR_R |
600.0 |
INDI gains linear controller |
REF_RATE_P |
28.0 |
INDI gains linear controller |
REF_RATE_Q |
28.0 |
INDI gains linear controller |
REF_RATE_R |
28.0 |
INDI gains linear controller |
MAX_R |
120.0 |
max yaw rate |
FILT_CUTOFF |
8.0 |
second order cutoff frequency for angular accelerations in Hz |
FILTER_RATES_SECOND_ORDER |
FALSE|TRUE |
use second order rate filters instead of first order |
STABILIZATION_INDI_FILT_CUTOFF_P |
20.0 |
First order cutoff freq for angular rate in Hz |
STABILIZATION_INDI_FILT_CUTOFF_Q |
20.0 |
First order cutoff freq for angular rate in Hz |
STABILIZATION_INDI_FILT_CUTOFF_R |
20.0 |
First order cutoff freq for angular rate in Hz |
ESTIMATION_FILT_CUTOFF |
8.0 |
second order cutoff parameter |
ACT_FREQ |
{53.9, 53.9, 53.9, 53.9} |
actuator dynamics [rad/s] |
ACT_IS_SERVO |
{0,0,0,0} |
1 for every actuator that is a servo |
ACT_IS_THRUSTER_X |
{0,0,0,0} |
1 for every actuator that is a thruster in the body-x direction |
ACT_RATE_LIMIT |
{9600,9600,9600,9600} |
rate limit in PPRZ units per timestep (depends on control frequency) |
ACT_PREF |
{0.0, 0.0, 0.0, 0.0} |
preferred (low energy) actuator value. Important when the system is over-determined! |
USE_ADAPTIVE |
FALSE|TRUE |
enable adaptive gains |
ADAPTIVE_MU |
0.0001 |
adaptation parameter |
WLS_PRIORITIES |
{1000, 1000, 1, 100, 100} |
WLS control objective priorities: roll, pitch, thrust, yaw, thrust_x |
WLS_WU |
{1, 1, 1, 1} |
WLS actuator cost (size of INDI_NUM_ACT) |
RPM_FEEDBACK |
FALSE |
enable RPM feedback |
ACT_FEEDBACK_ID |
ABI_BROADCAST |
listening for RPM feedback on this ABI id |
Depends
- stabilization_rotorcraft
- @attitude_command
- wls
Provides
- commands