sys_id_wave

Wave maneuver for system identification. The wave provide a sine input to the specified command axis. The module is used by including the module in the airframe file and adding the following line to the <command_laws> section: <call fun=”sys_id_wave_add_values(autopilot_get_motors_on(),FALSE,values)”/> You can pick the axes to apply waves to by setting the WAVE_AXES variable with the COMMAND_XXX variables where XXX are the actuators defined in the <commands> section of your airframe. Remeber to deactivate the control input when the system identification input is running using (can be checked using the sys_id_wave_running() function) Then, the GCS exposes the settings for the wave. - The wave axis settings is the index (0-based) of the axis to choose within the WAVE_AXES variable specified. In the default, this means i.e. 0 means roll wave. - Amplitude is the amplitude of the wave - Freqyency_hz is the frequency in Hertz of the wave - Lag_rad is the lag in radiants for the wave signal Start the wave by checking the Active box in the “Activate wave”. Stop the wave by checking the Inactive box in the same input setting. Add the message “WAVE” to your telemetry to see wave progress, and to your logger to obtain information about the provided input. Add the following message structure to the messages.xml file on a free ID

Defines

Name	Value	Description
WAVE_AXES	{COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW}	Which axes the wave is applied to (specify as array with {})
WAVE_ENABLED	TRUE|FALSE	If false, the wave does not run and values are not added