[paparazzi-commits] [5115] Tune Agressive Flight Parameters

[Christophe De Wagter]

Revision: 5115
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5115
Author:   dewagter
Date:     2010-07-22 11:33:16 +0000 (Thu, 22 Jul 2010)
Log Message:
-----------
Tune Agressive Flight Parameters

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fw_v_ctl.c
    paparazzi3/trunk/sw/airborne/fw_v_ctl.h

Added Paths:
-----------
    paparazzi3/trunk/conf/settings/tune_agr_climb.xml

Added: paparazzi3/trunk/conf/settings/tune_agr_climb.xml
===================================================================
--- paparazzi3/trunk/conf/settings/tune_agr_climb.xml                           
(rev 0)
+++ paparazzi3/trunk/conf/settings/tune_agr_climb.xml   2010-07-22 11:33:16 UTC 
(rev 5115)
@@ -0,0 +1,14 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+    <dl_settings NAME="control">
+       <dl_settings NAME="agr">
+          <dl_setting MAX="1.0" MIN="0." STEP="0.05" VAR="agr_climb_throttle" 
shortname="climb_throttle" module="fw_v_ctl" param="AGR_CLIMB_THROTTLE"/>
+          <dl_setting MAX="0.5" MIN="-0.1" STEP="0.05" VAR="agr_climb_pitch" 
shortname="climb_pitch" module="fw_v_ctl" param="AGR_CLIMB_PITCH"/>
+          <dl_setting MAX="1.0" MIN="0." STEP="0.1" VAR="agr_climb_nav_ratio" 
shortname="climb_nav_ratio" module="fw_v_ctl" param="AGR_CLIMB_NAV_RATIO"/>
+          <dl_setting MAX="1.0" MIN="0." STEP="0.05" 
VAR="agr_descent_throttle" shortname="descent_throttle" module="fw_v_ctl" 
param="AGR_DESCENT_THROTTLE"/>
+          <dl_setting MAX="0.1" MIN="-0.5" STEP="0.05" VAR="agr_descent_pitch" 
shortname="descent_ptich" module="fw_v_ctl" param="AGR_DESCENT_PITCH"/>
+          <dl_setting MAX="1.0" MIN="0." STEP="0.1" 
VAR="agr_descent_nav_ratio" shortname="descent_nav_ratio" module="fw_v_ctl" 
param="AGR_DESCENT_NAV_RATIO"/> 
+       </dl_settings>
+    </dl_settings>
+</settings>

Modified: paparazzi3/trunk/sw/airborne/fw_v_ctl.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fw_v_ctl.c     2010-07-22 11:03:25 UTC (rev 
5114)
+++ paparazzi3/trunk/sw/airborne/fw_v_ctl.c     2010-07-22 11:33:16 UTC (rev 
5115)
@@ -64,6 +64,16 @@
 #define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN 0.
 #endif
 
+/* agressive tuning */
+#ifdef TUNE_AGRESSIVE_CLIMB
+float agr_climb_throttle;
+float agr_climb_pitch;
+float agr_climb_nav_ratio;
+float agr_descent_throttle;
+float agr_descent_pitch;
+float agr_descent_nav_ratio;
+#endif
+
 /* "auto pitch" inner loop parameters */
 float v_ctl_auto_pitch_pgain;
 float v_ctl_auto_pitch_igain;
@@ -143,6 +153,28 @@
 #endif
 
   v_ctl_throttle_setpoint = 0;
+
+/*agressive tuning*/
+#ifdef TUNE_AGRESSIVE_CLIMB
+  agr_climb_throttle = AGR_CLIMB_THROTTLE;
+  #undef   AGR_CLIMB_THROTTLE
+  #define AGR_CLIMB_THROTTLE agr_climb_throttle
+  agr_climb_pitch = AGR_CLIMB_PITCH;
+  #undef   AGR_CLIMB_PITCH
+  #define   AGR_CLIMB_PITCH agr_climb_pitch 
+  agr_climb_nav_ratio = AGR_CLIMB_NAV_RATIO;
+  #undef   AGR_CLIMB_NAV_RATIO
+  #define   AGR_CLIMB_NAV_RATIO agr_climb_nav_ratio
+  agr_descent_throttle = AGR_DESCENT_THROTTLE;
+  #undef   AGR_DESCENT_THROTTLE
+  #define   AGR_DESCENT_THROTTLE agr_descent_throttle
+  agr_descent_pitch = AGR_DESCENT_PITCH;
+  #undef   AGR_DESCENT_PITCH
+  #define   AGR_DESCENT_PITCH agr_descent_pitch
+  agr_descent_nav_ratio = AGR_DESCENT_NAV_RATIO;
+  #undef   AGR_DESCENT_NAV_RATIO
+  #define   AGR_DESCENT_NAV_RATIO agr_descent_nav_ratio
+#endif
 }
 
 /** 

Modified: paparazzi3/trunk/sw/airborne/fw_v_ctl.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fw_v_ctl.h     2010-07-22 11:03:25 UTC (rev 
5114)
+++ paparazzi3/trunk/sw/airborne/fw_v_ctl.h     2010-07-22 11:33:16 UTC (rev 
5115)
@@ -75,6 +75,16 @@
 extern float v_ctl_auto_throttle_dash_trim;
 #endif
 
+/* agressive tuning */
+#ifdef TUNE_AGRESSIVE_CLIMB
+extern float agr_climb_throttle;
+extern float agr_climb_pitch;
+extern float agr_climb_nav_ratio;
+extern float agr_descent_throttle;
+extern float agr_descent_pitch;
+extern float agr_descent_nav_ratio;
+#endif
+
 /* "auto pitch" inner loop parameters */
 extern float v_ctl_auto_pitch_pgain;
 extern float v_ctl_auto_pitch_igain;