stabilization_indi

Full INDI stabilization controller for rotorcraft

Configures

Name

Value

Description

INDI_OUTPUTS

INDI_NUM_ACT

Section RC_SETPOINT

STABILIZATION_ATTITUDE_

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
Section STABILIZATION_ATTITUDE_INDI

STABILIZATION_INDI_

Name

Value

Description

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

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_DYN

{0.1, 0.1, 0.1, 0.1}

actuator dynamics

ACT_IS_SERVO

{0,0,0,0}

1 for every actuator that is a servo

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

Depends

  • stabilization_rotorcraft
  • @attitude_command

Provides

  • commands

Sections