{ "#JSBSim": { "Model": "mAEWing2", "ImuPort": 59011, "GpsPort": 59012, "5hole1Port": 59014, "CmdHost": "192.168.7.1", "CmdPort": 59051 }, "Sensors": [ { "Type": "Time", "Output": "Fmu/Time_us"}, { "Type": "InputVoltage", "Output": "Fmu/Voltage/Input_V"}, { "Type": "RegulatedVoltage", "Output": "Fmu/Voltage/Regulated_V"}, { "Type": "InternalMpu9250", "Output": "Fmu/Mpu9250", "Rotation": [-1,0,0,0,0,1,0,1,0], "SRD": 19, "DLPF-Bandwidth": "20Hz"}, { "Type": "InternalBme280", "Output": "Fmu/Bme280"}, { "Type": "Sbus", "Output": "Sbus"}, { "Type": "uBlox", "Output": "uBlox", "Uart": 4, "Baud": 115200}, { "Type": "Ams5915", "Output": "5Hole/Static", "Address": 24, "Transducer": "AMS5915-1200-B"}, { "Type": "Ams5915", "Output": "5Hole/Tip", "Address": 25, "Transducer": "AMS5915-0020-D"}, { "Type": "Ams5915", "Output": "5Hole/Alpha1", "Address": 32, "Transducer": "AMS5915-0020-D-B"}, { "Type": "Ams5915", "Output": "5Hole/Alpha2", "Address": 33, "Transducer": "AMS5915-0020-D-B"}, { "Type": "Ams5915", "Output": "5Hole/Beta1", "Address": 28, "Transducer": "AMS5915-0020-D-B"}, { "Type": "Ams5915", "Output": "5Hole/Beta2", "Address": 29, "Transducer": "AMS5915-0020-D-B"}, { "Type": "Node", "Address": 3, "Sensors": [ { "Type": "Analog", "Output": "Power/voltAvionics", "Channel": 0, "Calibration": [7.1200, 0]}, { "Type": "Analog", "Output": "Power/currAvionics", "Channel": 1, "Calibration": [27.3224, 0]}, { "Type": "Analog", "Output": "Power/voltPropLeft", "Channel": 2, "Calibration": [15.8053, 0]}, { "Type": "Analog", "Output": "Power/currPropLeft", "Channel": 3, "Calibration": [65.5364, 0]}, { "Type": "Analog", "Output": "Power/voltPropRight", "Channel": 5, "Calibration": [15.8053, 0]}, { "Type": "Analog", "Output": "Power/currPropRight", "Channel": 6, "Calibration": [65.5364, 0]}, { "Type": "Mpu9250", "Output": "Imu/CenterFwd", "UseSpi": 1, "CsPin": 25, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [1,0,0, 0,0,1, 0,-1,0], "SRD": 19}, { "Type": "Mpu9250", "Output": "Imu/CenterAft", "UseSpi": 1, "CsPin": 26, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [1,0,0, 0,0,1, 0,-1,0], "SRD": 19} ] }, { "Type": "Node", "Address": 4, "Sensors": [ { "Type": "Analog", "Output": "Surf/posTE1L", "Channel": 0, "Calibration": [1.14680560, -1.81621446]}, { "Type": "Analog", "Output": "Surf/posTE2L", "Channel": 1, "Calibration": [1.29409403, -2.31206750]}, { "Type": "Analog", "Output": "Surf/posTE3L", "Channel": 2, "Calibration": [1.02036440, -1.89261982]}, { "Type": "Analog", "Output": "Surf/posTE4L", "Channel": 3, "Calibration": [1.21640293, -2.18756403]}, { "Type": "Analog", "Output": "Surf/posTE5L", "Channel": 5, "Calibration": [1.16484893, -1.80075646]}, { "Type": "Analog", "Output": "Surf/posLEL", "Channel": 6, "Calibration": [-1.20863271, 1.99022805]}, { "Type": "Mpu9250", "Output": "Imu/LeftMid", "UseSpi": 1, "CsPin": 24, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [-0.92718385,0,-0.37460659, 0.37460659,0,-0.92718385, 0,-1,0], "SRD": 19}, { "Type": "Mpu9250", "Output": "Imu/LeftFwd", "UseSpi": 1, "CsPin": 25, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [0,1,0, -1,0,0, 0,0,1], "SRD": 19}, { "Type": "Mpu9250", "Output": "Imu/LeftAft", "UseSpi": 1, "CsPin": 26, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [0,1,0, -1,0,0, 0,0,1], "SRD": 19} ] }, { "Type": "Node", "Address": 5, "Sensors": [ { "Type": "Analog", "Output": "Surf/posTE1R", "Channel": 0, "Calibration": [-1.17079614, 1.95978482]}, { "Type": "Analog", "Output": "Surf/posTE2R", "Channel": 1, "Calibration": [-1.28476186, 2.21270030]}, { "Type": "Analog", "Output": "Surf/posTE3R", "Channel": 2, "Calibration": [-1.14332543, 1.67660296]}, { "Type": "Analog", "Output": "Surf/posTE4R", "Channel": 3, "Calibration": [-1.21485676, 1.70072795]}, { "Type": "Analog", "Output": "Surf/posTE5R", "Channel": 5, "Calibration": [-1.21485676, 1.70072795]}, { "Type": "Analog", "Output": "Surf/posLER", "Channel": 6, "Calibration": [1.08981167, -1.89890412]}, { "Type": "Mpu9250", "Output": "Imu/RightMid", "UseSpi": 1, "CsPin": 24, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [0.92718385,0,-0.37460659, 0.37460659,0,0.92718385, 0,-1,0], "SRD": 19}, { "Type": "Mpu9250", "Output": "Imu/RightFwd", "UseSpi": 1, "CsPin": 25, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [0,1,0, -1,0,0, 0,0,1], "SRD": 19}, { "Type": "Mpu9250", "Output": "Imu/RightAft", "UseSpi": 1, "CsPin": 26, "MosiPin": 7, "MisoPin": 8, "SckPin": 14, "Rotation": [0,1,0, -1,0,0, 0,0,1], "SRD": 19} ] } ], "Effectors": [ { "Type": "Node", "Address": 3, "Effectors": [ { "Type": "Motor", "Input": "/Control/cmdMotor_nd", "Channel": 0, "Calibration": [800, 1100], "Safed-Command": 0}, { "Type": "Motor", "Input": "/Control/cmdMotor_nd", "Channel": 1, "Calibration": [800, 1100], "Safed-Command": 0}, { "Type": "Pwm", "Input": "/Control/cmdGear_nd", "Channel": 3, "Calibration": [500, 1500]}, { "Type": "Pwm", "Input": "/Control/cmdSkid_nd", "Channel": 7, "Calibration": [250, 1750]} ] }, { "Type": "Node", "Address": 4, "Effectors": [ { "Type": "Sbus", "Input": "/Control/cmdTE1L_rad", "Channel": 0, "Calibration": [ 0.00000000, 103.36532115, -883.78440854, 944.91554365]}, { "Type": "Sbus", "Input": "/Control/cmdTE2L_rad", "Channel": 1, "Calibration": [ 0.00000000, 172.50356555, -841.72227709, 1025.47125771]}, { "Type": "Sbus", "Input": "/Control/cmdTE3L_rad", "Channel": 2, "Calibration": [ 0.00000000, 77.00144288, -858.81792120, 993.16934942]}, { "Type": "Sbus", "Input": "/Control/cmdTE4L_rad", "Channel": 3, "Calibration": [ 0.00000000, 73.38412980, -870.95304252, 1040.29434188]}, { "Type": "Sbus", "Input": "/Control/cmdTE5L_rad", "Channel": 4, "Calibration": [ 0.00000000, 53.09678075, -867.86055024, 1043.97333521]}, { "Type": "Sbus", "Input": "/Control/cmdLEL_rad", "Channel": 5, "Calibration": [ 0.00000000, 0.00000000, 894.85287343, 997.78449303]} ] }, { "Type": "Node", "Address": 5, "Effectors": [ { "Type": "Sbus", "Input": "/Control/cmdTE1R_rad", "Channel": 0, "Calibration": [ 0.00000000, 55.20246265, 921.72064822, 998.27858984]}, { "Type": "Sbus", "Input": "/Control/cmdTE2R_rad", "Channel": 1, "Calibration": [ 0.00000000, 61.59912377, 933.48595242, 1028.50500276]}, { "Type": "Sbus", "Input": "/Control/cmdTE3R_rad", "Channel": 2, "Calibration": [ 0.00000000, -74.14832495, 898.28218523, 1024.46677726]}, { "Type": "Sbus", "Input": "/Control/cmdTE4R_rad", "Channel": 3, "Calibration": [ 0.00000000, -12.46335758, 842.36276278, 1020.78343852]}, { "Type": "Sbus", "Input": "/Control/cmdTE5R_rad", "Channel": 4, "Calibration": [ 0.00000000, -13.54748650, 842.19014163, 1020.88938916]}, { "Type": "Sbus", "Input": "/Control/cmdLER_rad", "Channel": 5, "Calibration": [ 0.00000000, 74.32679318, -878.38823564, 1022.08606270]} ] } ], "Sensor-Processing": { "Baseline": [ { "Type": "FiveHole1", "Output": "5Hole", "OutputIas": "vIAS_ms", "OutputAltitude": "hBaro_m", "OutputAlpha": "alpha_rad", "OutputBeta": "beta_rad", "Static-Pressure": "/Sensors/5Hole/Static/Pressure_Pa", "Tip-Pressure": "/Sensors/5Hole/Tip/Pressure_Pa", "Alpha1-Pressure": "/Sensors/5Hole/Alpha1/Pressure_Pa", "Alpha2-Pressure": "/Sensors/5Hole/Alpha2/Pressure_Pa", "Beta1-Pressure": "/Sensors/5Hole/Beta1/Pressure_Pa", "Beta2-Pressure": "/Sensors/5Hole/Beta2/Pressure_Pa", "Alpha-Calibration": 4.8071159, "Beta-Calibration": 4.8071159, "Initialization-Time": 10 }, { "Type": "EKF15StateINS", "Output": "INS", "Time": "/Sensors/Fmu/Time_us", "GPS": "/Sensors/uBlox", "IMU": "/Sensors/Fmu/Mpu9250" }, { "Type": "MinCellVolt", "Output": "MinCellVolt_V", "Inputs": ["/Sensors/Fmu/Voltage/Input_V", "/Sensors/Power/voltPropLeft/CalibratedValue", "/Sensors/Power/voltPropRight/CalibratedValue"], "NumCells": [3, 12, 12] } ] }, "Telemetry": { "Uart": "/dev/ttyO2", "Baud": 115200, "Time": "/Sensors/Fmu/Time_us", "Static-Pressure": "/Sensors/Fmu/Bme280", "Airspeed": "/Sensor-Processing/vIAS_ms", "Altitude": "/Sensor-Processing/hBaro_m", "Filter": "/Sensor-Processing", "Gps": "/Sensors/uBlox", "Imu": "/Sensors/Fmu/Mpu9250", "Sbus": "/Sensors/Sbus", "Power": "/Sensor-Processing" }, "Control": { "Fmu": "PilotDirect", "Soc": [ "PilotAttitudeLaunch", "PilotAttitudeMan", "PilotAttitudeLand", "PilotAttitude26", "PilotAttitude29"], "PilotDirect": [ { "Level": "Pilot-Rates", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/7", "Output": "cmdMotor_nd", "Gain": 1.0, "Limits": {"Upper": 1.0, "Lower": 0.0}}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refRoll_rps", "Gain": 0.523599}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refPitch_rps", "Gain": 0.349066}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/11", "Output": "cmdGear_nd", "Gain": -1.0, "Limits": {"Upper": -1.0, "Lower": -1.0}} ] }, { "Level": "Allocator", "Components": [ { "Type": "Gain", "Input": "/Control/refFlap_nd", "Output": "cmdTE1L_rad", "Gain": 0.436332, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refFlap_nd", "Output": "cmdTE1R_rad", "Gain": 0.436332, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refRoll_rps", "Output": "cmdTE2L_rad", "Gain": 0.46631, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refRoll_rps", "Output": "cmdTE2R_rad", "Gain": -0.46631, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refRoll_rps", "Output": "cmdTE3L_rad", "Gain": 0.61633, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refRoll_rps", "Output": "cmdTE3R_rad", "Gain": -0.61633, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refPitch_rps", "Output": "cmdTE4L_rad", "Gain": -0.44899, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refPitch_rps", "Output": "cmdTE4R_rad", "Gain": -0.44899, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refPitch_rps", "Output": "cmdTE5L_rad", "Gain": -0.5371, "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/refPitch_rps", "Output": "cmdTE5R_rad", "Gain": -0.5371, "Limits": {"Upper": 0.436332, "Lower": -0.436332}} ] } ], "PilotRate": [ { "Level": "Pilot-Rates", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/7", "Output": "cmdMotor_nd", "Gain": 1.0, "Limits": {"Upper": 1.0, "Lower": 0.0}}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refRoll_rps", "Gain": 0.523599}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refPitch_pilot_rps", "Gain": 0.349066}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": -1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": 1}, { "Type": "Constant", "Output": "refPitch_bias_rps", "Constant": 0.25} ] }, { "Level": "Pilot-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/refPitch_pilot_rps", "/Control/refPitch_bias_rps"], "Output": "refPitch_rps"} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refRoll_rps", "Output": "cmdRoll_rps", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refPitch_rps", "Output": "cmdPitch_rps", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", "cmdTE2R_alloc_rad", "cmdTE3L_alloc_rad", "cmdTE3R_alloc_rad", "cmdTE4L_rad", "cmdTE4R_rad", "cmdTE5L_alloc_rad", "cmdTE5R_alloc_rad", "cmdLEL_rad", "cmdLER_rad"], "Effectiveness": [ [0,0,0.12566766209044647,-0.12566766209044647,0.17400791474534627,-0.17400791474534627,0.2107643429473072,-0.2107643429473072,0.21455703129167966,-0.21455703129167966,0,0], [0,0,0,0,-0.24059736290652464,-0.24059736290652464,-0.37964759401991566,-0.37964759401991566,-0.45864997674431435,-0.45864997674431435,0,0] ], "Limits": { "Lower": [-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.2,-0.2], "Upper": [ 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.2, 0.2] } }, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2L_alloc_rad", "/Control/cmdTE2L_flap_rad"], "Output": "cmdTE2L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitudeLaunch": [ { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/7", "Output": "cmdThrust", "Gain": 1, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_pilot_rad", "Gain": 1.0472}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": -1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": 1}, { "Type": "Constant", "Output": "refTheta_bias_rad", "Constant": 0.349066} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Sum", "Inputs": ["/Control/refTheta_pilot_rad", "/Control/refTheta_bias_rad"], "Output": "refTheta_rad"} ] }, { "Level": "SCAS-Attitude", "Components": [ { "Type": "PID2", "Reference": "/Control/refPhi_rad", "Feedback": "/Sensor-Processing/Roll_rad", "Output": "cmdRoll_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.40, "Integral": 0.0}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Gain", "Input": "/Sensor-Processing/GyroX_rads", "Output": "cmdRoll_Damp_rps", "Gain": -0.020}, { "Type": "PID2", "Reference": "/Control/refTheta_rad", "Feedback": "/Sensor-Processing/Pitch_rad", "Output": "cmdPitch_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.286, "Integral": 0.0}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Filter", "Input": "/Control/cmdThrust", "Output": "cmdPitch_cross_rps", "b": [0.007202], "a": [1.0, -0.9231]} ] }, { "Level": "SCAS-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdRoll_PID_rps", "/Control/cmdRoll_Damp_rps"], "Output": "cmdRoll_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Sum", "Inputs": ["/Control/cmdPitch_PID_rps", "/Control/cmdPitch_cross_rps"], "Output": "cmdPitch_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps", "/Control/cmdBend_nd"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", 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"Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { 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"Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitudeMan": [ { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/7", "Output": "cmdThrust", "Gain": 1, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": 1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": 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0.7854, "Lower": -0.7854}}, { "Type": "Filter", "Input": "/Control/cmdThrust", "Output": "cmdPitch_cross_rps", "b": [0.007202], "a": [1.0, -0.9231]} ] }, { "Level": "SCAS-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdRoll_PID_rps", "/Control/cmdRoll_Damp_rps"], "Output": "cmdRoll_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Sum", "Inputs": ["/Control/cmdPitch_PID_rps", "/Control/cmdPitch_cross_rps"], "Output": "cmdPitch_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps", "/Control/cmdBend_nd"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", "cmdTE2R_alloc_rad", "cmdTE3L_alloc_rad", "cmdTE3R_alloc_rad", "cmdTE4L_rad", "cmdTE4R_rad", "cmdTE5L_alloc_rad", "cmdTE5R_alloc_rad", "cmdLEL_rad", "cmdLER_rad"], "Effectiveness": [ [0,0,0.12566766209044647,-0.12566766209044647,0.17400791474534627,-0.17400791474534627,0.2107643429473072,-0.2107643429473072,0.21455703129167966,-0.21455703129167966,0,0], [0,0,0,0,-0.24059736290652464,-0.24059736290652464,-0.37964759401991566,-0.37964759401991566,-0.45864997674431435,-0.45864997674431435,0,0], [0.14738379976087307,0.14738379976087307,0.657798596332605,0.657798596332605,0.2576476343713448,0.2576476343713448,-0.821207164723005,-0.821207164723005,-1.9952776060457902,-1.9952776060457902,-0.19101043150067268,-0.19101043150067268] ], "Limits": { "Lower": [-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.2,-0.2], "Upper": [ 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.2, 0.2] } }, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2L_alloc_rad", "/Control/cmdTE2L_flap_rad"], "Output": "cmdTE2L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitudeLand": [ { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/7", "Output": "cmdThrust", "Gain": 1, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_rad", "Gain": 1.0472}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": -1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, 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[0,0,0,0,-0.24059736290652464,-0.24059736290652464,-0.37964759401991566,-0.37964759401991566,-0.45864997674431435,-0.45864997674431435,0,0], [0.14738379976087307,0.14738379976087307,0.657798596332605,0.657798596332605,0.2576476343713448,0.2576476343713448,-0.821207164723005,-0.821207164723005,-1.9952776060457902,-1.9952776060457902,-0.19101043150067268,-0.19101043150067268] ], "Limits": { "Lower": [-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.2,-0.2], "Upper": [ 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.2, 0.2] } }, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": 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["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitude20": [ { "Level": "Guidance-Ref", "Components": [ { "Type": "Constant", "Output": "refV_ms", "Constant": 20}, { "Type": "Latch", "Input": "/Sensor-Processing/hBaro_m", "Output": "refH_m"} ] }, { "Level": "Guidance", "Components": [ { "Type": "PID2", "Reference": "/Control/refV_ms", "Feedback": "/Sensor-Processing/vIAS_ms", "Output": "cmdThrust", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.177, "Integral": 0.0355}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "PID2", "Reference": "/Control/refH_m", "Feedback": "/Sensor-Processing/hBaro_m", "Output": "refTheta_guid_rad", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.00698, "Integral": 0.00000, "Derivative": 0.00698}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 0.0873, "Lower": -0.0873}} ] }, { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_pilot_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": 1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Sum", "Inputs": ["/Control/refTheta_guid_rad", "/Control/refTheta_pilot_rad"], "Output": "refTheta_rad", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "SCAS-Attitude", "Components": [ { "Type": "PID2", "Reference": "/Control/refPhi_rad", "Feedback": "/Sensor-Processing/Roll_rad", "Output": "cmdRoll_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.20, "Integral": 0.01}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Gain", "Input": "/Sensor-Processing/GyroX_rads", "Output": "cmdRoll_Damp_rps", "Gain": -0.0008}, { "Type": "PID2", "Reference": "/Control/refTheta_rad", "Feedback": "/Sensor-Processing/Pitch_rad", "Output": "cmdPitch_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.286, "Integral": 0.143}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Filter", "Input": "/Control/cmdThrust", "Output": "cmdPitch_cross_rps", "b": [0.007202], "a": [1.0, -0.9231]} ] }, { "Level": "SCAS-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdRoll_PID_rps", "/Control/cmdRoll_Damp_rps"], "Output": "cmdRoll_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Sum", "Inputs": ["/Control/cmdPitch_PID_rps", "/Control/cmdPitch_cross_rps"], "Output": "cmdPitch_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps", "/Control/cmdBend_nd"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", "cmdTE2R_alloc_rad", "cmdTE3L_alloc_rad", "cmdTE3R_alloc_rad", "cmdTE4L_rad", "cmdTE4R_rad", "cmdTE5L_alloc_rad", "cmdTE5R_alloc_rad", "cmdLEL_rad", "cmdLER_rad"], "Effectiveness": [ [0,0,0.12566766209044647,-0.12566766209044647,0.17400791474534627,-0.17400791474534627,0.2107643429473072,-0.2107643429473072,0.21455703129167966,-0.21455703129167966,0,0], [0,0,0,0,-0.24059736290652464,-0.24059736290652464,-0.37964759401991566,-0.37964759401991566,-0.45864997674431435,-0.45864997674431435,0,0], [0.14738379976087307,0.14738379976087307,0.657798596332605,0.657798596332605,0.2576476343713448,0.2576476343713448,-0.821207164723005,-0.821207164723005,-1.9952776060457902,-1.9952776060457902,-0.19101043150067268,-0.19101043150067268] ], "Limits": { "Lower": [-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.2,-0.2], "Upper": [ 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.2, 0.2] } }, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2L_alloc_rad", "/Control/cmdTE2L_flap_rad"], "Output": "cmdTE2L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitude23": [ { "Level": "Guidance-Ref", "Components": [ { "Type": "Constant", "Output": "refV_ms", "Constant": 23}, { "Type": "Latch", "Input": "/Sensor-Processing/hBaro_m", "Output": "refH_m"} ] }, { "Level": "Guidance", "Components": [ { "Type": "PID2", "Reference": "/Control/refV_ms", "Feedback": "/Sensor-Processing/vIAS_ms", "Output": "cmdThrust", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.177, "Integral": 0.0355}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "PID2", "Reference": "/Control/refH_m", "Feedback": "/Sensor-Processing/hBaro_m", "Output": "refTheta_guid_rad", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.00698, "Integral": 0.00000, "Derivative": 0.00698}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 0.0873, "Lower": -0.0873}} ] }, { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_pilot_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": 1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Sum", "Inputs": ["/Control/refTheta_guid_rad", "/Control/refTheta_pilot_rad"], "Output": "refTheta_rad", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "SCAS-Attitude", "Components": [ { "Type": "PID2", "Reference": "/Control/refPhi_rad", "Feedback": "/Sensor-Processing/Roll_rad", "Output": "cmdRoll_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.20, "Integral": 0.01}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Gain", "Input": "/Sensor-Processing/GyroX_rads", "Output": "cmdRoll_Damp_rps", "Gain": -0.0008}, { "Type": "PID2", "Reference": "/Control/refTheta_rad", "Feedback": "/Sensor-Processing/Pitch_rad", "Output": "cmdPitch_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.286, "Integral": 0.143}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Filter", "Input": "/Control/cmdThrust", "Output": "cmdPitch_cross_rps", "b": [0.007202], "a": [1.0, -0.9231]} ] }, { "Level": "SCAS-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdRoll_PID_rps", "/Control/cmdRoll_Damp_rps"], "Output": "cmdRoll_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Sum", "Inputs": ["/Control/cmdPitch_PID_rps", "/Control/cmdPitch_cross_rps"], "Output": "cmdPitch_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps", "/Control/cmdBend_nd"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", "cmdTE2R_alloc_rad", "cmdTE3L_alloc_rad", "cmdTE3R_alloc_rad", "cmdTE4L_rad", "cmdTE4R_rad", "cmdTE5L_alloc_rad", "cmdTE5R_alloc_rad", "cmdLEL_rad", "cmdLER_rad"], "Effectiveness": [ [0,0,0.12566766209044647,-0.12566766209044647,0.17400791474534627,-0.17400791474534627,0.2107643429473072,-0.2107643429473072,0.21455703129167966,-0.21455703129167966,0,0], [0,0,0,0,-0.24059736290652464,-0.24059736290652464,-0.37964759401991566,-0.37964759401991566,-0.45864997674431435,-0.45864997674431435,0,0], [0.14738379976087307,0.14738379976087307,0.657798596332605,0.657798596332605,0.2576476343713448,0.2576476343713448,-0.821207164723005,-0.821207164723005,-1.9952776060457902,-1.9952776060457902,-0.19101043150067268,-0.19101043150067268] ], "Limits": { "Lower": [-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.436332,-0.2,-0.2], "Upper": [ 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.436332, 0.2, 0.2] } }, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2L_alloc_rad", "/Control/cmdTE2L_flap_rad"], "Output": "cmdTE2L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitude26": [ { "Level": "Guidance-Ref", "Components": [ { "Type": "Constant", "Output": "refV_ms", "Constant": 26}, { "Type": "Latch", "Input": "/Sensor-Processing/hBaro_m", "Output": "refH_m"} ] }, { "Level": "Guidance", "Components": [ { "Type": "PID2", "Reference": "/Control/refV_ms", "Feedback": "/Sensor-Processing/vIAS_ms", "Output": "cmdThrust", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.177, "Integral": 0.0355}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "PID2", "Reference": "/Control/refH_m", "Feedback": "/Sensor-Processing/hBaro_m", "Output": "refTheta_guid_rad", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.00698, "Integral": 0.00000, "Derivative": 0.00698}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 0.0873, "Lower": -0.0873}} ] }, { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_pilot_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": 1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Sum", "Inputs": ["/Control/refTheta_guid_rad", "/Control/refTheta_pilot_rad"], "Output": "refTheta_rad", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "SCAS-Attitude", "Components": [ { "Type": "PID2", "Reference": "/Control/refPhi_rad", "Feedback": "/Sensor-Processing/Roll_rad", "Output": "cmdRoll_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.20, "Integral": 0.01}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Gain", "Input": "/Sensor-Processing/GyroX_rads", "Output": "cmdRoll_Damp_rps", "Gain": -0.0008}, { "Type": "PID2", "Reference": "/Control/refTheta_rad", "Feedback": "/Sensor-Processing/Pitch_rad", "Output": "cmdPitch_PID_rps", "Sample-Time": 0.02, "Gains": {"Proportional": 0.286, "Integral": 0.143}, "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Filter", "Input": "/Control/cmdThrust", "Output": "cmdPitch_cross_rps", "b": [0.007202], "a": [1.0, -0.9231]} ] }, { "Level": "SCAS-Sum", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdRoll_PID_rps", "/Control/cmdRoll_Damp_rps"], "Output": "cmdRoll_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}}, { "Type": "Sum", "Inputs": ["/Control/cmdPitch_PID_rps", "/Control/cmdPitch_cross_rps"], "Output": "cmdPitch_rps", "Limits": {"Upper": 0.7854, "Lower": -0.7854}} ] }, { "Level": "Allocator", "Components": [ { "Type": "PseudoInverse", "Inputs": ["/Control/cmdRoll_rps", "/Control/cmdPitch_rps", "/Control/cmdBend_nd"], "Outputs": ["cmdTE1L_alloc_rad", "cmdTE1R_alloc_rad", "cmdTE2L_alloc_rad", "cmdTE2R_alloc_rad", "cmdTE3L_alloc_rad", 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"/Control/cmdFlap_nd", "Output": "cmdTE1L_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE1R_flap_rad", "Gain": 0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2L_alloc_rad", "/Control/cmdTE2L_flap_rad"], "Output": "cmdTE2L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE2R_alloc_rad", "/Control/cmdTE2R_flap_rad"], "Output": "cmdTE2R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3L_alloc_rad", "/Control/cmdTE3L_flap_rad"], "Output": "cmdTE3L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE3R_alloc_rad", "/Control/cmdTE3R_flap_rad"], "Output": "cmdTE3R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5L_alloc_rad", "/Control/cmdTE5L_flap_rad"], "Output": "cmdTE5L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE5R_alloc_rad", "/Control/cmdTE5R_flap_rad"], "Output": "cmdTE5R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Gain", "Input": "/Control/cmdThrust", "Output": "cmdMotor_nd", "Gain": 1.0} ] }, { "Level": "Out", "Components": [] } ], "PilotAttitude29": [ { "Level": "Guidance-Ref", "Components": [ { "Type": "Constant", "Output": "refV_ms", "Constant": 29}, { "Type": "Latch", "Input": "/Sensor-Processing/hBaro_m", "Output": "refH_m"} ] }, { "Level": "Guidance", "Components": [ { "Type": "PID2", "Reference": "/Control/refV_ms", "Feedback": "/Sensor-Processing/vIAS_ms", "Output": "cmdThrust", "Sample-Time": 0.02, "Time-Constant": 0.2, "Gains": {"Proportional": 0.252, "Integral": 0.0505}, "Setpoint-Weights": {"Proportional": 1.0, "Derivative": 0.0}, "Limits": {"Upper": 1, "Lower": 0}}, { "Type": "PID2", "Reference": "/Control/refH_m", "Feedback": "/Sensor-Processing/hBaro_m", "Output": "refTheta_guid_rad", "Sample-Time": 0.02, "Time-Constant": 0.2, 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0.34907}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2L_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE2R_flap_rad", "Gain": 0.30183}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3L_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE3R_flap_rad", "Gain": 0.23263}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5L_flap_rad", "Gain": -0.21468}, { "Type": "Gain", "Input": "/Control/cmdFlap_nd", "Output": "cmdTE5R_flap_rad", "Gain": -0.21468} ] }, { "Level": "Effector", "Components": [ { "Type": "Sum", "Inputs": ["/Control/cmdTE1L_alloc_rad", "/Control/cmdTE1L_flap_rad"], "Output": "cmdTE1L_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": ["/Control/cmdTE1R_alloc_rad", "/Control/cmdTE1R_flap_rad"], "Output": "cmdTE1R_rad", "Limits": {"Upper": 0.436332, "Lower": -0.436332}}, { "Type": "Sum", "Inputs": 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"Lower": -0.0873}} ] }, { "Level": "Pilot-Attitude", "Components": [ { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/3", "Output": "refPhi_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/4", "Output": "refTheta_pilot_rad", "Gain": 0.7854}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/6", "Output": "refFlap_nd", "Gain": 1.0}, { "Type": "Gain", "Input": "/Sensors/Sbus/Channels/12", "Output": "refBend_nd", "Gain": 1.0}, { "Type": "Constant", "Output": "cmdGear_nd", "Constant": 1}, { "Type": "Constant", "Output": "cmdSkid_nd", "Constant": -1} ] }, { "Level": "Pilot-Filt", "Components": [ { "Type": "Filter", "Input": "/Control/refFlap_nd", "Output": "cmdFlap_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Filter", "Input": "/Control/refBend_nd", "Output": "cmdBend_nd", "b": [0.131311455359006, 0.0863219057948165], "a": [1.0, -1.06697618218221, 0.284609543336029]}, { "Type": "Sum", "Inputs": 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