hybrid quadplanes and tailsitters explicit (#3161)

paparazzi · Nov 6, 2023 · 54d2a2b · 54d2a2b
1 parent 4d88bb9
commit 54d2a2b
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Showing 19 changed files with 354 additions and 206 deletions.
diff --git a/conf/airframes/examples/cube_orange.xml b/conf/airframes/examples/cube_orange.xml
@@ -109,7 +109,7 @@
       <configure name="USE_TFMINI_AGL" value="FALSE"/>
     </module-->
 
-    <module name="guidance" type="indi_hybrid">
+    <module name="guidance" type="indi_hybrid_tailsitter">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>

diff --git a/conf/airframes/tudelft/bebop2_indi_convergence.xml b/conf/airframes/tudelft/bebop2_indi_convergence.xml
@@ -34,7 +34,7 @@
     <module name="gps" type="ublox"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="stabilization" type="indi_simple"/>
-    <module name="guidance" type="indi_hybrid"/>
+    <module name="guidance" type="indi_hybrid_tailsitter"/>
 
     <module name="ins" type="ekf2"/>
     <!--<module name="ahrs" type="int_cmpl_quat">-->

diff --git a/conf/airframes/tudelft/cyfoam.xml b/conf/airframes/tudelft/cyfoam.xml
@@ -292,7 +292,7 @@
       <define name="WLS_N_U" value="4" />
       <define name="WLS_N_V" value="4" />
     </module>
-    <module name="guidance"      type="indi_hybrid">
+    <module name="guidance"      type="indi_hybrid_tailsitter">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>

diff --git a/conf/airframes/tudelft/disco_rotorcraft_indi.xml b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
@@ -60,7 +60,7 @@
       <define name="WLS_N_V" value="4"/>
      <configure name="INDI_NUM_ACT" value="3"/>
     </module>
-    <module name="guidance" type="indi_hybrid"/>
+    <module name="guidance" type="indi_hybrid_tailsitter"/>
     <!--<module name="sonar_bebop">
       <define name="USE_SONAR"/>
       <define name="SENSOR_SYNC_SEND_SONAR"/>

diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
@@ -150,7 +150,8 @@
       <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
     </module>
 
-    <module name="guidance" type="indi_hybrid">
+    <module name="guidance" type="indi_hybrid_tailsitter">
+      <define name="GUIDANCE_INDI_HYBRID_USE_WLS" value="TRUE"/>
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>

diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
@@ -138,7 +138,7 @@
       <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
     </module>
 
-    <module name="guidance" type="indi_hybrid">
+    <module name="guidance" type="indi_hybrid_tailsitter">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>

diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
@@ -138,7 +138,7 @@
       <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
     </module>
 
-    <module name="guidance" type="indi_hybrid">
+    <module name="guidance" type="indi_hybrid_tailsitter">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>

diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
@@ -138,7 +138,7 @@
       <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
     </module>
 
-    <module name="guidance" type="indi_hybrid">
+    <module name="guidance" type="indi_hybrid_tailsitter">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>

diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -102,7 +102,7 @@
 
         <module name="ctrl_eff_sched_rot_wing"/>
 
-        <module name="guidance" type="indi_hybrid"/>
+        <module name="guidance" type="indi_hybrid_quadplane"/>
         <module name="nav_hybrid"/>
 
         <!-- Other -->
@@ -409,7 +409,6 @@
         <define name="PITCH_LIFT_EFF"       value="0.0"/>
         <define name="ZERO_AIRSPEED"        value="TRUE"/>
 
-        <define name="QUADPLANE"            value="TRUE"/>
         <define name="THRUST_Z_EFF"         value="-0.0023"/>
         <define name="THRUST_X_EFF"         value="0.00055"/>
 

diff --git a/conf/modules/guidance_indi_hybrid.xml b/conf/modules/guidance_indi_hybrid.xml
@@ -3,7 +3,9 @@
 <module name="guidance_indi_hybrid" dir="guidance" task="control">
   <doc>
     <description>
-      Guidance controller for hybrids using INDI
+      Common guidance controller code for hybrids using INDI: in your airframe file include one of the options:
+       - guidance_indi_hybid_tailsitter
+       - guidance_indi_hybid_quadplane
     </description>
     <section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_HYBRID_">
       <define name="USE_WLS" value="FALSE|TRUE" description="use WLS allocation instead of matrix inversion (default: FALSE)"/>
@@ -31,14 +33,13 @@
   </settings>
   <dep>
     <depends>@navigation,guidance_rotorcraft,wls</depends>
-    <provides>guidance,attitude_command</provides>
+    <suggests>guidance_indi_hybrid_tailsitter</suggests>
   </dep>
   <header>
     <file name="guidance_indi_hybrid.h"/>
   </header>
   <init fun="guidance_indi_init()"/>
   <init fun="guidance_indi_enter()"/>
-  <!--<periodic fun="guidance_indi_propagate_filters()" freq="PERIODIC_FREQUENCY" autorun="TRUE"/>-->
   <makefile target="ap|nps" firmware="rotorcraft">
     <file name="guidance_indi_hybrid.c" dir="$(SRC_FIRMWARE)/guidance"/>
     <define name="GUIDANCE_INDI_HYBRID" value="TRUE"/>

diff --git a/conf/modules/guidance_indi_hybrid_quadplane.xml b/conf/modules/guidance_indi_hybrid_quadplane.xml
@@ -0,0 +1,27 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="guidance_indi_hybrid_quadplane" dir="guidance" task="control">
+  <doc>
+    <description>
+      Guidance controller for hybrid quadplane vehicles
+    </description>
+  </doc>
+  <dep>
+    <depends>guidance_indi_hybrid</depends>
+    <conflicts>guidance_indi_hybrid_tailsitter</conflicts>
+    <provides>guidance,attitude_command</provides>
+  </dep>
+  <header>
+    <file name="guidance_indi_hybrid_quadplane.h"/>
+  </header>
+  <init fun="guidance_indi_quadplane_init()"/>
+  <periodic fun="guidance_indi_quadplane_propagate_filters()" freq="PERIODIC_FREQUENCY" autorun="TRUE"/>
+  <makefile target="ap|nps" firmware="rotorcraft">
+    <define name="GUIDANCE_INDI_HYBRID_USE_WLS" value="1"/>
+    <!-- Guidance actuators: (roll, pitch, thrust, push) for quadplanes  -->
+    <define name="GUIDANCE_INDI_HYBRID_U" value="4"/>
+    <!-- Guidance control objectives: ax, ay, ay for quadplanes -->
+    <define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
+    <file name="guidance_indi_hybrid_quadplane.c" dir="$(SRC_FIRMWARE)/guidance"/>
+  </makefile>
+</module>
diff --git a/conf/modules/guidance_indi_hybrid_tailsitter.xml b/conf/modules/guidance_indi_hybrid_tailsitter.xml
@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="guidance_indi_hybrid_tailsitter" dir="guidance" task="control">
+  <doc>
+    <description>
+      Guidance controller for hybrid tailsitter vehicles
+    </description>
+  </doc>
+  <dep>
+    <depends>guidance_indi_hybrid</depends>
+    <conflicts>guidance_indi_hybrid_quadplane</conflicts>
+    <provides>guidance,attitude_command</provides>
+  </dep>
+  <header>
+    <file name="guidance_indi_hybrid_tailsitter.h"/>
+  </header>
+  <makefile target="ap|nps" firmware="rotorcraft">
+    <!-- Guidance actuators: (roll, pitch, thrust, push) for quadplanes  -->
+    <define name="GUIDANCE_INDI_HYBRID_U" value="3"/>
+    <!-- Guidance control objectives: ax, ay, ay for quadplanes -->
+    <define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
+    <file name="guidance_indi_hybrid_tailsitter.c" dir="$(SRC_FIRMWARE)/guidance"/>
+  </makefile>
+</module>
diff --git a/conf/modules/nav_hybrid.xml b/conf/modules/nav_hybrid.xml
@@ -40,6 +40,8 @@
       <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
       <define name="DOWNLINK_DEVICE" value="uart0"/>
       <define name="USE_UART0"/>
+      <define name="GUIDANCE_INDI_HYBRID_U" value="3"/>
+      <define name="GUIDANCE_INDI_HYBRID_V" value="3"/>
     </test>
   </makefile>
 </module>