Moved all fixed wing controllers to new world

1 files changed, 71 insertions, 0 deletions

diff --git a/src/modules/fixedwing_backside/params.c b/src/modules/fixedwing_backside/params.c
new file mode 100644
index 000000000..428b779b1
--- /dev/null
+++ b/src/modules/fixedwing_backside/params.c
@@ -0,0 +1,71 @@
+#include <systemlib/param/param.h>
+
+// currently tuned for easystar from arkhangar in HIL
+//https://github.com/arktools/arkhangar
+
+// 16 is max name length
+
+// gyro low pass filter
+PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
+
+// yaw washout
+PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
+
+// stabilization mode
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
+
+//  psi -> phi -> p
+PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
+
+// velocity -> theta
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
+
+
+// theta -> q
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
+
+//  h -> thr
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
+
+// crosstrack
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
+
+// speed command
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
+
+// rate of climb
+// this is what rate of climb is commanded (in m/s) 
+// when the pitch stick is fully defelcted in simple mode
+PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
+
+//  rate of climb -> thr
+PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f);   // rate of climb to throttle PID
+PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
+
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)