NAV_tuning_parameters.h File Reference

Tuning parameters for navigation, wind an variometer. More...

Go to the source code of this file.

Macros
#define	MINIMUM_MAG_CALIBRATION_SAMPLES   6000
#define	MAG_OFFSET_CHANGE_LIMIT   0.02f
#define	MAG_SCALE_CHANGE_LIMIT   0.02f
#define	CIRCLE_LIMIT   (10 * 100)
	10 * 1/100 s delay into / out of circling state
#define	ANGLE_F_BY_FS   ( 1.0f / 0.5f / 100.0f)
#define	G_LOAD_F_BY_FS   ( 1.0f / 0.25f / 100.0f)
#define	DEFAULT_VARIO_TC   2.0f
#define	DEFAULT_AVG_VARIO_TC   30.0f
#define	DEFAULT_WIND_TC   5.0f
#define	DEFAULT_WIND_AVG_TC   30.0f
#define	NEGLECTABLE_WIND   0.1f
#define	P_GAIN   0.03f
	Attitude controller: proportional gain.
#define	I_GAIN   0.00006f
	Attitude controller: integral gain.
#define	H_GAIN   38.0f
	Attitude controller: horizontal gain.
#define	M_H_GAIN   6.0f
	Attitude controller: horizontal gain magnetic.
#define	CROSS_GAIN   0.05
	Attitude controller: cross-product gain.
#define	INDUCTION_ERROR   0.015
	Maximum std deviation to update earth induction parameters.
#define	NAV_CORRECTION_LIMIT   5.0f
	limit for "low AHRS correcting variable"
#define	HIGH_TURN_RATE   8.0*M_PI/180.0f
	turn rate high limit
#define	LOW_TURN_RATE   1.0*M_PI/180.0f
	turn rate low limit
#define	SPEED_COMPENSATION_FUSIONER_FEEDBACK   0.998f
#define	USE_ACCELERATION_CROSS_GAIN_ALONE_WHEN_CIRCLING   1
	if 1: do not use induction to control attitude while circling
#define	DISABLE_CIRCLING_STATE   0
	for tests only: never use circling AHRS algorithm
#define	INDUCTION_STD_DEVIATION_LIMIT   0.03
	results outperforming this number will be used further on
#define	AIRBORNE_TRIGGER_SPEED   0.5f
	speed-compensator vario value m/s
#define	MAG_SCALE   10000.0f
	scale factor for high-precision integer statistics
#define	FAST_SAMPLING_REQUENCY   100.0f
#define	FAST_SAMPLING_TIME   0.01f
#define	SLOW_SAMPLING_REQUENCY   10.0f
#define	SLOW_SAMPLING_TIME   0.1f
#define	GRAVITY   9.81f

Detailed Description

Tuning parameters for navigation, wind an variometer.

Author

Dr. Klaus Schaefer

Copyright

Copyright 2021 Dr. Klaus Schaefer. All rights reserved. @license This project is released under the GNU Public License GPL-3.0

<Larus Flight Sensor Firmware>

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file NAV_tuning_parameters.h.

Macro Definition Documentation

AIRBORNE_TRIGGER_SPEED

#define AIRBORNE_TRIGGER_SPEED   0.5f

speed-compensator vario value m/s

Definition at line 63 of file NAV_tuning_parameters.h.

ANGLE_F_BY_FS

#define ANGLE_F_BY_FS   ( 1.0f / 0.5f / 100.0f)

Definition at line 35 of file NAV_tuning_parameters.h.

CIRCLE_LIMIT

#define CIRCLE_LIMIT   (10 * 100)

10 * 1/100 s delay into / out of circling state

Definition at line 32 of file NAV_tuning_parameters.h.

CROSS_GAIN

#define CROSS_GAIN   0.05

Attitude controller: cross-product gain.

Definition at line 52 of file NAV_tuning_parameters.h.

DEFAULT_AVG_VARIO_TC

#define DEFAULT_AVG_VARIO_TC   30.0f

Definition at line 40 of file NAV_tuning_parameters.h.

DEFAULT_VARIO_TC

#define DEFAULT_VARIO_TC   2.0f

Definition at line 39 of file NAV_tuning_parameters.h.

DEFAULT_WIND_AVG_TC

#define DEFAULT_WIND_AVG_TC   30.0f

Definition at line 42 of file NAV_tuning_parameters.h.

DEFAULT_WIND_TC

#define DEFAULT_WIND_TC   5.0f

Definition at line 41 of file NAV_tuning_parameters.h.

DISABLE_CIRCLING_STATE

#define DISABLE_CIRCLING_STATE   0

for tests only: never use circling AHRS algorithm

Definition at line 60 of file NAV_tuning_parameters.h.

FAST_SAMPLING_REQUENCY

#define FAST_SAMPLING_REQUENCY   100.0f

Definition at line 66 of file NAV_tuning_parameters.h.

FAST_SAMPLING_TIME

#define FAST_SAMPLING_TIME   0.01f

Definition at line 67 of file NAV_tuning_parameters.h.

G_LOAD_F_BY_FS

#define G_LOAD_F_BY_FS   ( 1.0f / 0.25f / 100.0f)

Definition at line 36 of file NAV_tuning_parameters.h.

GRAVITY

#define GRAVITY   9.81f

Definition at line 71 of file NAV_tuning_parameters.h.

H_GAIN

#define H_GAIN   38.0f

Attitude controller: horizontal gain.

Definition at line 50 of file NAV_tuning_parameters.h.

HIGH_TURN_RATE

#define HIGH_TURN_RATE   8.0*M_PI/180.0f

turn rate high limit

Definition at line 55 of file NAV_tuning_parameters.h.

I_GAIN

#define I_GAIN   0.00006f

Attitude controller: integral gain.

Definition at line 49 of file NAV_tuning_parameters.h.

INDUCTION_ERROR

#define INDUCTION_ERROR   0.015

Maximum std deviation to update earth induction parameters.

Definition at line 53 of file NAV_tuning_parameters.h.

INDUCTION_STD_DEVIATION_LIMIT

#define INDUCTION_STD_DEVIATION_LIMIT   0.03

results outperforming this number will be used further on

Definition at line 61 of file NAV_tuning_parameters.h.

LOW_TURN_RATE

#define LOW_TURN_RATE   1.0*M_PI/180.0f

turn rate low limit

Definition at line 56 of file NAV_tuning_parameters.h.

M_H_GAIN

#define M_H_GAIN   6.0f

Attitude controller: horizontal gain magnetic.

Definition at line 51 of file NAV_tuning_parameters.h.

MAG_OFFSET_CHANGE_LIMIT

#define MAG_OFFSET_CHANGE_LIMIT   0.02f

Definition at line 29 of file NAV_tuning_parameters.h.

MAG_SCALE

#define MAG_SCALE   10000.0f

scale factor for high-precision integer statistics

Definition at line 65 of file NAV_tuning_parameters.h.

MAG_SCALE_CHANGE_LIMIT

#define MAG_SCALE_CHANGE_LIMIT   0.02f

Definition at line 30 of file NAV_tuning_parameters.h.

MINIMUM_MAG_CALIBRATION_SAMPLES

#define MINIMUM_MAG_CALIBRATION_SAMPLES   6000

Definition at line 28 of file NAV_tuning_parameters.h.

NAV_CORRECTION_LIMIT

#define NAV_CORRECTION_LIMIT   5.0f

limit for "low AHRS correcting variable"

Definition at line 54 of file NAV_tuning_parameters.h.

NEGLECTABLE_WIND

#define NEGLECTABLE_WIND   0.1f

Definition at line 43 of file NAV_tuning_parameters.h.

P_GAIN

#define P_GAIN   0.03f

Attitude controller: proportional gain.

Definition at line 48 of file NAV_tuning_parameters.h.

SLOW_SAMPLING_REQUENCY

#define SLOW_SAMPLING_REQUENCY   10.0f

Definition at line 68 of file NAV_tuning_parameters.h.

SLOW_SAMPLING_TIME

#define SLOW_SAMPLING_TIME   0.1f

Definition at line 69 of file NAV_tuning_parameters.h.

SPEED_COMPENSATION_FUSIONER_FEEDBACK

#define SPEED_COMPENSATION_FUSIONER_FEEDBACK   0.998f

Definition at line 57 of file NAV_tuning_parameters.h.

USE_ACCELERATION_CROSS_GAIN_ALONE_WHEN_CIRCLING

#define USE_ACCELERATION_CROSS_GAIN_ALONE_WHEN_CIRCLING   1

if 1: do not use induction to control attitude while circling

Definition at line 59 of file NAV_tuning_parameters.h.