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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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614e15d5f4
Increases signal ampltiude on a 1Hz sin input until a target rate (R/P/Y = 0.8/0.5/0.5 rad/s) is reached. Identification signal is then scaled with this ampltitude instead of the user-defined parameter.
39 lines
944 B
Plaintext
39 lines
944 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32[5] coeff # coefficients of the identified discrete-time model
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float32[5] coeff_var # coefficients' variance of the identified discrete-time model
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float32 fitness # fitness of the parameter estimate
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float32 innov
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float32 dt_model
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float32 kc
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float32 ki
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float32 kd
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float32 kff
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float32 att_p
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float32[3] rate_sp
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float32 u_filt
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float32 y_filt
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uint8 STATE_IDLE = 0
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uint8 STATE_INIT = 1
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uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2
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uint8 STATE_ROLL = 3
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uint8 STATE_ROLL_PAUSE = 4
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uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5
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uint8 STATE_PITCH = 6
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uint8 STATE_PITCH_PAUSE = 7
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uint8 STATE_YAW_AMPLITUDE_DETECTION = 8
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uint8 STATE_YAW = 9
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uint8 STATE_YAW_PAUSE = 10
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uint8 STATE_VERIFICATION = 11
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uint8 STATE_APPLY = 12
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uint8 STATE_TEST = 13
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uint8 STATE_COMPLETE = 14
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uint8 STATE_FAIL = 15
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uint8 STATE_WAIT_FOR_DISARM = 16
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uint8 state
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