stabilization_indi_simple

Simple INDI stabilization controller for rotorcraft

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 ATTITUDE_REFERENCE

STABILIZATION_ATTITUDE_
Name	Value	Description
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

Section STABILIZATION_ATTITUDE_INDI

STABILIZATION_INDI_
Name	Value	Description
G1_P	0.0639	control effectiveness G1 gain on roll rate
G1_Q	0.0361	control effectiveness G1 gain on pitch rate
G1_R	0.0022	control effectiveness G1 gain on yaw rate
G2_R	0.1450	control effectiveness G2 gain on yaw rate
REF_ERR_P	600.0	linear gains for INDI reference
REF_ERR_Q	600.0	linear gains for INDI reference
REF_ERR_R	600.0	linear gains for INDI reference
REF_RATE_P	28.0	linear gains for INDI reference
REF_RATE_Q	28.0	linear gains for INDI reference
REF_RATE_R	28.0	linear gains for INDI reference
MAX_R	120.0	max yaw rate
FILT_CUTOFF	8.0	second order filter cutoff frequency Hz
FILT_CUTOFF_RDOT	8.0	second order filter cutoff frequency rdot Hz
ESTIMATION_FILT_CUTOFF	8.0	second order cutoff parameter
ACT_FREQ_P	53.9	first order actuator dynamics on roll rate [rad/s]
ACT_FREQ_Q	53.9	first order actuator dynamics on pitch rate [rad/s]
ACT_FREQ_R	53.9	first order actuator dynamics on yaw rate [rad/s]
USE_ADAPTIVE	FALSE|TRUE	enable adaptive gains
ADAPTIVE_MU	0.0001	adaptation parameter
FULL_AUTHORITY	FALSE	Enable full control authority
FILT_CUTOFF_P	30.0	First order filter P cutoff value
FILT_CUTOFF_Q	30.0	First order filter Q cutoff value
FILT_CUTOFF_R	30.0	First order filter R cutoff value

Depends

• stabilization_rotorcraft
• @attitude_command

Provides

• commands

Sections