Checked in L1 position and TECS altitude control. Not test-flown in HIL or outdoors yet

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fw_pos_control_l1_params.c
+ *
+ * Parameters defined by the L1 position control task
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+
+PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
+
+
+PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
+
+
+PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
+
+
+PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);

src/modules/fw_pos_control_l1/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing L1 position control application
+#
+
+MODULE_COMMAND	= fw_pos_control_l1
+
+SRCS		= fw_pos_control_l1_main.cpp \
+		  fw_pos_control_l1_params.c