stabilisation_copter_default_config.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice, 
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 * may be used to endorse or promote products derived from this software without
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/*******************************************************************************
 * \file stabilisation_copter_default_config.h
 * 
 * \author MAV'RIC Team
 *   
 * \brief Default values for cascade PID controller 
 *
 ******************************************************************************/


#ifndef STABILISATION_COPTER_DEFAULT_CONFIG_H_
#define STABILISATION_COPTER_DEFAULT_CONFIG_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "stabilisation_copter.h"


stabilisation_copter_conf_t stabilisation_copter_default_config =
{
    .thrust_hover_point = -0.3f,
    .motor_layout       = QUADCOPTER_MOTOR_LAYOUT_DIAG,
    .stabiliser_stack   = 
    {
        // #############################################################################
        // ######  RATE CONTROL  #######################################################
        // #############################################################################
        .rate_stabiliser={
            .rpy_controller={
                // -----------------------------------------------------------------
                // ------ ROLL PID -------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.05f,
                    .clip_min = -0.9f,
                    .clip_max = 0.9f,
                    .integrator={
                        .pregain = 0.5f,
                        .postgain = 1.0f,
                        .accumulator = 0.0f,
                        .clip = 0.65f,
                    },
                    .differentiator={
                        .gain = 0.15f,
                        .previous = 0.0f,
                        .clip = 0.65f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                },
                // -----------------------------------------------------------------
                // ------ PITCH PID ------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.05f,
                    .clip_min = -0.9f,
                    .clip_max = 0.9f,
                    .integrator={
                        .pregain = 0.5f,
                        .postgain = 1.0f,
                        .accumulator = 0.0f,
                        .clip = 0.65f,
                    },
                    .differentiator={
                        .gain = 0.15f,
                        .previous = 0.0f,
                        .clip = 0.65f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                },
                // -----------------------------------------------------------------
                // ------ YAW PID --------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.3f,
                    .clip_min = -0.3f,
                    .clip_max = 0.3f,
                    .integrator={
                        .pregain = 0.5f,
                        .postgain = 0.5f,
                        .accumulator = 0.0f,
                        .clip = 0.3f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                }
            },
            // ---------------------------------------------------------------------
            // ------ THRUST PID ---------------------------------------------------
            // ---------------------------------------------------------------------
            .thrust_controller={
                .p_gain = 1.0f,
                .clip_min = -1000,
                .clip_max = 1000,
                .integrator={
                    .pregain = 0.0f,
                    .postgain = 0.0f,
                    .accumulator = 0.0f,
                    .clip = 0.0f,
                },
                .differentiator={
                    .gain = 0.0f,
                    .previous = 0.0f,
                    .clip = 0.0f
                },
                .output = 0.0f,
                .error = 0.0f,
                .last_update = 0.0f,
                .dt = 1,
                .soft_zone_width = 0.0f
            },
            // ---------------------------------------------------------------------
            // ------ OUTPUT -------------------------------------------------------
            // ---------------------------------------------------------------------
            .output = {
                .rpy = {0.0f, 0.0f, 0.0f},
                .thrust = 0.0f,
                .tvel = {0.0f, 0.0f, 0.0f},
                .theading = 0.0f,
                .control_mode =  RATE_COMMAND_MODE,
                .yaw_mode = YAW_RELATIVE
                //.yaw_mode = YAW_RELATIVE,
                //.run_mode = MOTORS_OFF
            },
        },
        // #############################################################################
        // ######  ATTITUDE CONTROL  ###################################################
        // #############################################################################
        .attitude_stabiliser={
            .rpy_controller={
                // -----------------------------------------------------------------
                // ------ ROLL PID -------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 4.0f,
                    .clip_min = -1.2f,
                    .clip_max = 1.2f,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.1f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                },
                // -----------------------------------------------------------------
                // ------ PITCH PID ------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 4.0f,
                    .clip_min = -1.2f,
                    .clip_max = 1.2f,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.1f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                },
                // -----------------------------------------------------------------
                // ------ YAW PID --------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 3.0f,
                    .clip_min = -1.5f,
                    .clip_max = 1.5f,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                }
            },
            // ---------------------------------------------------------------------
            // ------ THRUST PID ---------------------------------------------------
            // ---------------------------------------------------------------------
            .thrust_controller={
                .p_gain = 1.0f,
                .clip_min = -1,
                .clip_max = 1,
                .integrator={
                    .pregain = 0.0f,
                    .postgain = 0.0f,
                    .accumulator = 0.0f,
                    .clip = 0.0f,
                },
                .differentiator={
                    .gain = 0.0f,
                    .previous = 0.0f,
                    .clip = 0.0f
                },
                .output = 0.0f,
                .error = 0.0f,
                .last_update = 0.0f,
                .dt = 1,
                .soft_zone_width = 0.0f
            },
            // ---------------------------------------------------------------------
            // ------ OUTPUT -------------------------------------------------------
            // ---------------------------------------------------------------------
            .output = {
                .rpy = {0.0f, 0.0f, 0.0f},
                .thrust = 0.0f,
                .tvel = {0.0f, 0.0f, 0.0f},
                .theading = 0.0f,
                .control_mode =  RATE_COMMAND_MODE,
                .yaw_mode = YAW_RELATIVE
                //.yaw_mode = YAW_RELATIVE,
                //.run_mode = MOTORS_OFF
            },
        },
        // #############################################################################
        // ######  VELOCITY CONTROL  ###################################################
        // #############################################################################
        .velocity_stabiliser={
            .rpy_controller={
                // -----------------------------------------------------------------
                // ------ ROLL PID -------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.2f,
                    .clip_min = -0.5f,
                    .clip_max = 0.5f,
                    .integrator={
                        .pregain = 1.0f,
                        .postgain = 0.5f,
                        .accumulator = 0.0f,
                        .clip = 0.5f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.2f
                },
                // -----------------------------------------------------------------
                // ------ PITCH PID ------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.2f,
                    .clip_min = -0.5f,
                    .clip_max = 0.5f,
                    .integrator={
                        .pregain = 1.0f,
                        .postgain = 0.5f,
                        .accumulator = 0.0f,
                        .clip = 0.5f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.2f
                },
                // -----------------------------------------------------------------
                // ------ YAW PID --------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 1.0f,
                    .clip_min = -1,
                    .clip_max = 1,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.0f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                }
            },
            // ---------------------------------------------------------------------
            // ------ THRUST PID ---------------------------------------------------
            // ---------------------------------------------------------------------
            .thrust_controller={
                .p_gain = 0.20f,
                .clip_min = -0.9f,
                .clip_max = 0.65f,
                .integrator={
                    .pregain = 1.0f,
                    .postgain = 0.0f,
                    .accumulator = 0.0f,
                    .clip = 1.0f,
                },
                .differentiator={
                    .gain = 0.2f,
                    .previous = 0.0f,
                    .clip = 0.2f
                },
                .output = 0.0f,
                .error = 0.0f,
                .last_update = 0.0f,
                .dt = 1,
                .soft_zone_width = 0.2f
            },
            // ---------------------------------------------------------------------
            // ------ OUTPUT -------------------------------------------------------
            // ---------------------------------------------------------------------
            .output = {
                .rpy = {0.0f, 0.0f, 0.0f},
                .thrust = 0.0f,
                .tvel = {0.0f, 0.0f, 0.0f},
                .theading = 0.0f,
                .control_mode =  RATE_COMMAND_MODE,
                .yaw_mode = YAW_RELATIVE
                //.yaw_mode = YAW_RELATIVE,
                //.run_mode = MOTORS_OFF
            },
        },
        // #############################################################################
        // ######  POSITION CONTROL  ###################################################
        // #############################################################################
        .position_stabiliser={
            .rpy_controller={
                // -----------------------------------------------------------------
                // ------ ROLL PID -------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.1f,
                    .clip_min = -0.5f,
                    .clip_max = 0.5f,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.05f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.2f
                },
                // -----------------------------------------------------------------
                // ------ PITCH PID ------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 0.1f,
                    .clip_min = -0.5f,
                    .clip_max = 0.5f,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.5f,
                    },
                    .differentiator={
                        .gain = 0.05f,
                        .previous = 0.0f,
                        .clip = 0.5f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.2f
                },
                // -----------------------------------------------------------------
                // ------ YAW PID --------------------------------------------------
                // -----------------------------------------------------------------
                {
                    .p_gain = 1.0f,
                    .clip_min = -1,
                    .clip_max = 1,
                    .integrator={
                        .pregain = 0.0f,
                        .postgain = 0.0f,
                        .accumulator = 0.0f,
                        .clip = 0.0f,
                    },
                    .differentiator={
                        .gain = 0.0f,
                        .previous = 0.0f,
                        .clip = 0.0f
                    },
                    .output = 0.0f,
                    .error = 0.0f,
                    .last_update = 0.0f,
                    .dt = 1,
                    .soft_zone_width = 0.0f
                }
            },
            // ---------------------------------------------------------------------
            // ------ THRUST PID ---------------------------------------------------
            // ---------------------------------------------------------------------
            .thrust_controller={
                .p_gain = 0.05f,
                .clip_min = -0.9f,
                .clip_max = 0.65f,
                .integrator={
                    .pregain = 0.001f,
                    .postgain = 1.0f,
                    .accumulator = 0.0f,
                    .clip = 0.5f,
                },
                .differentiator={
                    .gain = 0.1f,
                    .previous = 0.0f,
                    .clip = 0.2f
                },
                .output = 0.0f,
                .error = 0.0f,
                .last_update = 0.0f,
                .dt = 1,
                .soft_zone_width = 0.2f
            },
            // ---------------------------------------------------------------------
            // ------ OUTPUT -------------------------------------------------------
            // ---------------------------------------------------------------------
            .output = {
                .rpy = {0.0f, 0.0f, 0.0f},
                .thrust = 0.0f,
                .tvel = {0.0f, 0.0f, 0.0f},
                .theading = 0.0f,
                .control_mode =  RATE_COMMAND_MODE,
                .yaw_mode = YAW_RELATIVE
                //.yaw_mode = YAW_RELATIVE,
                //.run_mode = MOTORS_OFF
            },
        },
        // #############################################################################
        // ######  MISC  ###############################################################
        // #############################################################################
        .yaw_coordination_velocity=1.5f
    }
};

#ifdef __cplusplus
}
#endif

#endif /* STABILISATION_COPTER_DEFAULT_CONFIG_H_ */