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Remove the dependencies of 'nav_hybrid' from 'guidance_indi_hybrid'. (#…
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…3160)

* remove nav_hybrid dependency from guidance_indi_hybrid

* removed NAV_MAX_SPEED definition from the testing airframe

* removed dependency from max bank angle of guidance

---------

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
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@alessandro-mancinelli @dewagter
alessandro-mancinelli and dewagter committed Nov 13, 2023
1 parent 0ec27e7 commit 5aff1f7
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246 changes: 246 additions & 0 deletions conf/airframes/tudelft/hybrid_nav_test.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="hybrid_nav_test">
<description>
Test for using the hybrid_nav module without dependecies from the guidance_indi module.
</description>


<firmware name="rotorcraft">

<target name="ap" board="px4fmu_5.0_chibios">
<configure name="FLASH_MODE" value="SWD"/>
<configure name="PERIODIC_FREQUENCY" value="500"/>

<module name="imu" type="mpu6000"/>

<module name="mag" type="rm3100">
<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/>
<define name="RM3100_CHAN_X_SIGN" value="+"/>
<define name="RM3100_CHAN_Y_SIGN" value="-"/>
<define name="RM3100_CHAN_Z_SIGN" value="-"/>
<define name="RM3100_CHAN_X" value="0"/>
<define name="RM3100_CHAN_Y" value="1"/>
<define name="RM3100_CHAN_Z" value="2"/>
<define name="MODULE_RM3100_SYNC_SEND" value="FALSE"/>
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
</module>

<module name="actuators" type="pwm">
</module>

<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>

<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B460800"/>
</module>

<!-- Enable for onboard logging -->
<module name="tlsf"/>
<module name="pprzlog"/>
<module name="logger" type="sd_chibios"/>
<module name="flight_recorder"/>

</target>

<define name="USE_AIRSPEED" value="TRUE"/>

<!-- <module name="guidance" type="indi_hybrid">
<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"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/>
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/>
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
<define name="GUIDANCE_INDI_LIFTD_P50" value="6.0"/>
<define name="GUIDANCE_INDI_LIFTD_P80" value="10.0"/>
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.15"/>
<define name="TRANSITION_MAX_OFFSET" value="10"/>
</module> -->

<module name="nav_hybrid">
<configure name="NAV_HYBRID_POS_GAIN" value="1"/>
</module>

<module name="stabilization" type="indi_simple"/>

<module name="ins" type="ekf2">
</module>

<module name="geo_mag"/>
<module name="air_data"/>

</firmware>

<servos>
</servos>

<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="RADIO_TH_HOLD" failsafe_value="-9600"/>
</commands>

<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="ROLL" value="@YAW"/>
<set command="PITCH" value="@PITCH/2"/>
<set command="YAW" value="-@ROLL/4"/>
</rc_commands>


<command_laws>
</command_laws>

<section name="IMU" prefix="IMU_">


<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-9,-6,-4}, .scale={{38883,41480,36505},{3968,4241,3726}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-33,-9,11}, .scale={{36893,53565,3365},{7544,10964,689}}}}"/>

<!-- Calibrated at Valkenburg the 20-07-2023 -->
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={9,-131,25}, .scale={{20269,20901,3230},{35294,37646,5847}}}}"/>

</section>

<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="40." unit="deg"/>
<define name="SP_MAX_THETA" value="40." unit="deg"/>
<define name="SP_MAX_R" value="150." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">

<!-- control effectiveness (hover) [conventional + yaw tilting] -->
<define name="G1_P" value="0.004"/>
<define name="G1_Q" value="0.01"/>
<define name="G1_R" value="0.001"/>
<define name="G2_R" value="0.00015"/>

<!-- control effectiveness (forward) -->
<define name="FORWARD_G1_P" value="0.0020"/>
<define name="FORWARD_G1_Q" value="0.0077"/>
<define name="FORWARD_G1_R" value="0.004"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="60.0"/>
<define name="REF_ERR_Q" value="60.0"/>
<define name="REF_ERR_R" value="44.0"/>
<define name="REF_RATE_P" value="6.5"/>
<define name="REF_RATE_Q" value="6.5"/>
<define name="REF_RATE_R" value="5.4"/>

<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="120.0" unit="deg/s"/>

<!-- Maximum rate setpoint in rate control mode -->
<define name="MAX_RATE" value="3.0" unit="rad/s"/>

<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="1.5"/>
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.047"/>
<define name="ACT_DYN_Q" value="0.047"/>
<define name="ACT_DYN_R" value="0.047"/>
<define name="ACT_DYN_B" value="0.047"/>
<define name="ACT_DYN_P" value="0.047"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="310"/>
<define name="HOVER_KD" value="130"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="0"/>
<define name="IGAIN" value="20"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
</section>

<section name="BAT">
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 0.76* adc)"/>
<define name="BAT_NB_CELLS" value="4"/>
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.0" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0" unit="V"/>
</section>

<section name="MISC">
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>

<define name="NAV_CLIMB_VSPEED" value="3.5"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>


<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="AP_MODE_NAV"/>

<define name="FAILSAFE_HOME_RADIUS" value="600" unit="m"/>

</section>

<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="TRUE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>

<section name="GCS">
<define name="SPEECH_NAME" value="OverDone"/>
<define name="AC_ICON" value="flyingwing"/>
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>

</airframe>
7 changes: 4 additions & 3 deletions conf/modules/nav_hybrid.xml
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Expand Up @@ -20,13 +20,15 @@
<dl_settings>
<dl_settings NAME="nav_hybrid">
<dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0"/>
<dl_setting var="nav_goto_speed" min="0.1" step="0.1" max="10.0"/>
<dl_setting var="nav_goto_max_speed" min="0.1" step="0.1" max="50.0"/>
<dl_setting var="nav_max_deceleration_sp" min="0.5" step="0.1" max="10.0" shortname="max_deceleration" param="NAV_HYBRID_MAX_DECELERATION"/>
<dl_setting var="nav_hybrid_line_gain" min="0.1" step="0.1" max="3" shortname="nav_hybrid_line_gain" param="NAV_HYBRID_LINE_GAIN"/>
<dl_setting var="nav_hybrid_pos_gain" min="0.1" step="0.1" max="10" shortname="nav_hybrid_pos_gain" param="NAV_HYBRID_POS_GAIN"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>nav_basic_rotorcraft,guidance_indi_hybrid</depends>
<depends>nav_basic_rotorcraft</depends>
</dep>
<header>
<file name="nav_rotorcraft_hybrid.h"/>
Expand All @@ -35,7 +37,6 @@
<makefile target="ap|nps" firmware="rotorcraft">
<file name="nav_rotorcraft_hybrid.c"/>
<test firmware="rotorcraft">
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="15."/>
<configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
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11 changes: 11 additions & 0 deletions conf/userconf/tudelft/conf.xml
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Expand Up @@ -593,4 +593,15 @@
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/ctrl_eff_sched_rot_wing.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml"
gui_color="red"
/>
<aircraft
name="nav_hybrid_test"
ac_id="23"
airframe="airframes/tudelft/hybrid_nav_test.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/delft_basic.xml"
settings=""
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
</conf>

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