stabilization_int_quat
Stabilization controller for rotorcraft using integer quaternion implementation
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 |
REF_OMEGA_P |
400 |
reference generator omega param on roll rate |
REF_ZETA_P |
0.9 |
reference generator zeta param on roll rate |
REF_MAX_P |
300. |
reference generator max roll rate |
REF_MAX_PDOT |
RadOfDeg(7000.) |
reference generator max roll acceleration |
REF_OMEGA_Q |
400 |
reference generator omega param on pitch rate |
REF_ZETA_Q |
0.9 |
reference generator zeta param on pitch rate |
REF_MAX_Q |
300. |
reference generator max pitch rate |
REF_MAX_QDOT |
RadOfDeg(7000.) |
reference generator max pitch acceleration |
REF_OMEGA_R |
250 |
reference generator omega param on yaw rate |
REF_ZETA_R |
0.9 |
reference generator zeta param on yaw rate |
REF_MAX_R |
180. |
reference generator max yaw rate |
REF_MAX_RDOT |
RadOfDeg(1800.) |
reference generator max yaw acceleration |
PHI_PGAIN |
400 |
feedback roll P gain |
PHI_DGAIN |
300 |
feedback roll D gain |
PHI_IGAIN |
100 |
feedback roll I gain |
THETA_PGAIN |
400 |
feedback pitch P gain |
THETA_DGAIN |
300 |
feedback pitch D gain |
THETA_IGAIN |
100 |
feedback pitch I gain |
PSI_PGAIN |
380 |
feedback yaw P gain |
PSI_DGAIN |
320 |
feedback yaw D gain |
PSI_IGAIN |
100 |
feedback yaw I gain |
PHI_DDGAIN |
300 |
feedforward roll acceleration gain |
THETA_DDGAIN |
300 |
feedforward pitch acceleration gain |
PSI_DDGAIN |
300 |
feedforward yaw acceleration gain |
Depends
- stabilization_rotorcraft
- @attitude_command
Provides
- commands