mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
TUDelft airframes clean-up: a first sweep (#2346)
* cleanup TUD airframes part1 * Remove firmware sections
This commit is contained in:
Christophe De Wagter
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
1e8a699ad4
commit
00f5745df6
@@ -1,6 +1,8 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="ardrone2_opticflow">
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<description>ARDrone2, Opticflow hover
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2"/>
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@@ -11,7 +13,7 @@
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<define name="USE_SONAR" value="TRUE"/>
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<!-- Subsystem section -->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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@@ -21,9 +23,7 @@
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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@@ -40,7 +40,7 @@
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</module>
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<module name="opticflow_hover"/>
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</modules>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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@@ -28,14 +28,12 @@
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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<module name="send_imu_mag_current"/>
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<module name="air_data"/>
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<module name="logger_file"/>
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</modules>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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@@ -28,15 +28,14 @@
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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<module name="air_data"/>
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<module name="logger_file"/>
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</modules>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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@@ -1,224 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="ardrone2_oa_avoid">
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<description>
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2">
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<configure name="USE_BARO_BOARD" value="TRUE"/>
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</target>
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<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
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<define name="USE_SONAR" value="TRUE"/>
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<define name="NO_GPS_NEEDED_FOR_NAV" value="TRUE"/>
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="ardrone2"/>
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<module name="imu" type="ardrone2"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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<module name="stereocam">
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<configure name="STEREO_UART" value="UART1"/>
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<configure name="STEREO_BAUD" value="B115200"/>
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</module>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="3000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelero -->
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<define name="ACCEL_X_NEUTRAL" value="2048"/>
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<define name="ACCEL_Y_NEUTRAL" value="2048"/>
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<define name="ACCEL_Z_NEUTRAL" value="2048"/>
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="-180"/>
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<define name="MAG_X_SENS" value="16." integer="16"/>
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<define name="MAG_Y_SENS" value="16." integer="16"/>
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<define name="MAG_Z_SENS" value="16." integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.028551973"/>
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<define name="G1_Q" value="0.023775417"/>
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<define name="G1_R" value="0.00173069"/>
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<define name="G2_R" value="0.086460732"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="380.0"/>
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<define name="REF_ERR_Q" value="380.0"/>
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<define name="REF_ERR_R" value="70.0"/>
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<define name="REF_RATE_P" value="21.6"/>
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<define name="REF_RATE_Q" value="21.6"/>
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<define name="REF_RATE_R" value="11.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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<define name="ACT_DYN_Q" value="0.06"/>
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<define name="ACT_DYN_R" value="0.06"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="180" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="850"/>
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<define name="PHI_DGAIN" value="425"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="850"/>
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<define name="THETA_DGAIN" value="425"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="1000"/>
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<define name="PSI_DGAIN" value="700"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value="100"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="583"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="false"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="363"/>
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<define name="DGAIN" value="237"/>
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<define name="IGAIN" value="30"/>
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<define name="VGAIN" value="0"/>
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<define name="AGAIN" value="0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
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<define name="JSBSIM_INIT" value="reset00" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -4,7 +4,6 @@
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<description>ARDrone2, Opticflow hover
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2"/>
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@@ -14,7 +13,7 @@
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<define name="USE_SONAR" value="TRUE"/>
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<!-- Subsystem section -->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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@@ -117,14 +116,10 @@
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<!-- Delft -->
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<!--define name="H_X" value="0.3892503"/>
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/ -->
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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@@ -21,9 +21,8 @@
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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<!--module name="cv_opticflow"/>
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<module name="opticflow_hover"/-->
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@@ -31,7 +30,7 @@
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<configure name="STEREO_UART" value="UART1"/>
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<configure name="STEREO_BAUD" value="B1000000"/>
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</module>
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</modules>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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@@ -27,11 +27,10 @@
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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</modules>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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@@ -1,196 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
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* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
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* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
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* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="MAVTec5">
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<description>MavTecFreek
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_mx_2.1"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<configure name="USE_MAGNETOMETER" value="0"/>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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</module>
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<module name="motor_mixing"/>
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<module name="actuators" type="asctec_v2"/>
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<module name="actuators" type="pwm"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="lisa_mx_v2.1"/>
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<module name="gps" type="ublox">
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<define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
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</module>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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</firmware>
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<modules>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="switch" type="servo"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="logger_spi_link"/>
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</modules>
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<servos driver="Asctec_v2">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
|
||||
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
|
||||
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
|
||||
</servos>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="DROP" no="4" min="1100" neutral="1500" max="2100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
<define name="REVERSE" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="SWITCH_SERVO">
|
||||
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
|
||||
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
|
||||
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
|
||||
<define name="DropOpen()" value="SwitchServoOn()"/>
|
||||
<define name="DropClose()" value="SwitchServoOff()"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
|
||||
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="14"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="116"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="119"/>
|
||||
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="65." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="65." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="250." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="900"/>
|
||||
<define name="PHI_DGAIN" value="200"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
<define name="THETA_PGAIN" value="900"/>
|
||||
<define name="THETA_DGAIN" value="200"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
<define name="PSI_PGAIN" value="900"/>
|
||||
<define name="PSI_DGAIN" value="200"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 200"/>
|
||||
<define name="THETA_DDGAIN" value=" 200"/>
|
||||
<define name="PSI_DDGAIN" value=" 200"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="35" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -26,9 +26,7 @@
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -36,7 +34,7 @@
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -26,9 +26,8 @@
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -43,7 +42,7 @@
|
||||
<define name="MAVLINK_SYSID" value="1"/>
|
||||
<configure name="MAVLINK_PORT" value="UDP1"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -24,9 +24,7 @@
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -34,7 +32,7 @@
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -31,9 +31,8 @@
|
||||
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
|
||||
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
|
||||
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -78,7 +77,7 @@
|
||||
</module>
|
||||
|
||||
<!--<module name="bebop_ae_awb"/>-->
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -31,9 +31,8 @@
|
||||
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
|
||||
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
|
||||
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -67,7 +66,7 @@
|
||||
</module>
|
||||
|
||||
<!--<module name="bebop_ae_awb"/>-->
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -20,9 +20,8 @@
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -42,7 +41,7 @@
|
||||
|
||||
<!--<module name="bebop_ae_awb"/>-->
|
||||
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -26,8 +26,8 @@
|
||||
<!-- <module name="guidance" type="indi"> <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN"
|
||||
value="-500.0"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
|
||||
<define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> </module> -->
|
||||
</firmware>
|
||||
<modules main_freq="512">
|
||||
|
||||
|
||||
<module name="video_thread"/>
|
||||
<module name="pose_history"/>
|
||||
<module name="cv_opticflow">
|
||||
@@ -62,7 +62,7 @@
|
||||
<define name="OFH_HOR_X_SLOPE_A" value = "0.003" />
|
||||
<define name="OFH_HOR_X_SLOPE_B" value = "0.005" />
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -24,9 +24,8 @@
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -50,7 +49,7 @@
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -27,16 +27,15 @@
|
||||
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -24,9 +24,8 @@
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -47,7 +46,7 @@
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
|
||||
</module>
|
||||
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -31,16 +31,16 @@
|
||||
<module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -31,9 +31,8 @@
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
@@ -72,7 +71,8 @@
|
||||
<configure name="MAVLINK_PORT" value="UDP1"/>
|
||||
<define name="MAVLINK_SYSID" value="1"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -28,16 +28,15 @@
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
<module name="guidance" type="indi"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -36,15 +36,14 @@
|
||||
<module name="stabilization" type="heli_indi"/>
|
||||
<module name="rpm_sensor" type="eagletree"/>
|
||||
<module name="ahrs" type="int_cmpl_quat_notch"/>-->
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<!--<load name="geo_mag.xml"/>-->
|
||||
<load name="air_data.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="heli_swashplate_mixing.xml"/>
|
||||
<load name="heli_throttle_curve.xml"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
|
||||
|
||||
@@ -35,15 +35,14 @@
|
||||
<module name="stabilization" type="heli_indi"/>
|
||||
<module name="rpm_sensor" type="eagletree"/>
|
||||
<module name="ahrs" type="int_cmpl_quat_notch"/>-->
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<!--<load name="geo_mag.xml"/>-->
|
||||
<load name="air_data.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="heli_swashplate_mixing.xml"/>
|
||||
<load name="heli_throttle_curve.xml"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
|
||||
|
||||
@@ -178,11 +178,6 @@
|
||||
</section>
|
||||
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_mxs_1.0">
|
||||
|
||||
@@ -229,5 +224,8 @@
|
||||
<module name="air_data">
|
||||
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
|
||||
</module>
|
||||
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -28,9 +28,7 @@ ARDrone2 with optical_flow landing.
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
<module name="video_thread"/>
|
||||
<module name="pose_history"/>
|
||||
@@ -38,7 +36,7 @@ ARDrone2 with optical_flow landing.
|
||||
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
|
||||
</module>
|
||||
<module name="optical_flow_landing"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -20,15 +20,14 @@
|
||||
<module name="stabilization" type="rate"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="heli_swashplate_mixing"/>
|
||||
<module name="heli_throttle_curve"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
|
||||
@@ -35,15 +35,14 @@
|
||||
<module name="stabilization" type="heli_indi"/>
|
||||
<module name="rpm_sensor" type="eagletree"/>
|
||||
<module name="ahrs" type="int_cmpl_quat_notch"/>-->
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<!--<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>-->
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="heli_swashplate_mixing.xml"/>
|
||||
<load name="heli_throttle_curve.xml"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
|
||||
|
||||
@@ -197,15 +197,6 @@
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="stereocam">
|
||||
<configure name="STEREO_UART" value="UART1"/>
|
||||
<configure name="STEREO_BAUD" value="B115200"/>
|
||||
<define name="FORWARD_IMAGE_DATA" value="TRUE"/>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_s_1.0">
|
||||
<module name="radio_control" type="datalink">
|
||||
@@ -242,5 +233,12 @@
|
||||
<module name="ins">
|
||||
<define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
|
||||
</module>
|
||||
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="stereocam">
|
||||
<configure name="STEREO_UART" value="UART1"/>
|
||||
<configure name="STEREO_BAUD" value="B115200"/>
|
||||
<define name="FORWARD_IMAGE_DATA" value="TRUE"/>
|
||||
</module>
|
||||
</firmware>
|
||||
</airframe>
|
||||
|
||||
@@ -42,6 +42,10 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
|
||||
<define name="REMAP_UART3" value="TRUE"/>
|
||||
</module>
|
||||
<module name="heli" type="throttle_curve"/>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="logger_spi_link"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
@@ -65,12 +69,6 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="logger_spi_link"/>
|
||||
</modules>
|
||||
|
||||
<servos driver="Spektrum">
|
||||
<servo name="THROTTLE" no="0" min="340" neutral="340" max="1708"/>
|
||||
<servo name="ROLL" no="1" min="340" neutral="1024" max="1708"/>
|
||||
|
||||
@@ -35,12 +35,11 @@
|
||||
</module>
|
||||
<module name="ins" type="hff"/>
|
||||
<module name="guidance" type="indi"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
|
||||
|
||||
@@ -35,14 +35,13 @@
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
<module name="guidance" type="indi"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="switch" type="servo"/>
|
||||
<!--module name="gps" type="ubx_ucenter"/-->
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Asctec_v2">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
|
||||
|
||||
@@ -34,9 +34,8 @@
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="switch" type="servo"/>
|
||||
@@ -45,7 +44,7 @@
|
||||
<configure name="HS_LOG_SPI_DEV" value="SPI1"/>
|
||||
<configure name="HS_LOG_SPI_SLAVE_IDX" value="SPI_SLAVE1"/>
|
||||
</module>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Asctec_v2">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
|
||||
|
||||
@@ -90,7 +90,7 @@
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<section name="AUTOPI </modules>LOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
|
||||
|
||||
@@ -25,16 +25,15 @@
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
<module name="stereocam">
|
||||
<configure name="STEREO_UART" value="UART1"/>
|
||||
<configure name="STEREO_BAUD" value="B115200"/>
|
||||
</module>
|
||||
<module name="stereocam_follow_me"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
|
||||
@@ -77,16 +77,15 @@ Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
|
||||
<module name="navigation"/>
|
||||
|
||||
<module name="ins" type="alt_float"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512"> <!-- NEW (512hz) -->
|
||||
|
||||
<module name="baro_sim"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="nav" type="line"/>
|
||||
<!--<module name="nav" type="catapult"/>-->
|
||||
<!--<module name="send_imu_mag_current"/>-->
|
||||
<!--<load name="geo_init"/>-->
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
|
||||
<!--<section name="CATAPULT" prefix="NAV_CATAPULT_" >
|
||||
|
||||
@@ -54,15 +54,14 @@
|
||||
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="0" />
|
||||
<define name="RADIO_KILL_SWITCH" value="5" />
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
|
||||
<module name="px4_flash"/>
|
||||
<module name="geo_mag" />
|
||||
<module name="air_data" />
|
||||
<module name="send_imu_mag_current" />
|
||||
<module name="spektrum_soft_bind"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
|
||||
|
||||
@@ -36,6 +36,14 @@
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
</module>
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="6"/>
|
||||
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
<!--module name="gas_engine_idle"/-->
|
||||
</target>
|
||||
<target name="fbw" board="lisa_m_2.0">
|
||||
<configure name="SEPARATE_FBW" value="1"/>
|
||||
@@ -70,6 +78,7 @@
|
||||
<configure name="XSENS_PORT" value="uart1"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
</target>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
@@ -80,19 +89,6 @@
|
||||
<define name="RADIO_CONTROL_AUTO1"/>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="6"/>
|
||||
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
<!--module name="gas_engine_idle"/-->
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
<servos>
|
||||
|
||||
@@ -29,11 +29,8 @@ YAPA + XSens + XBee
|
||||
<configure name="XSENS_PORT" value="uart0"/>
|
||||
<configure name="XSENS_BAUD" value="B230400"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="2"/>
|
||||
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
|
||||
@@ -46,7 +43,7 @@ YAPA + XSens + XBee
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO23"/>
|
||||
</module>
|
||||
<module name="nav" type="line"/>
|
||||
</modules>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
|
||||
@@ -1,207 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="ardrone2_indi">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="ardrone2">
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_SONAR" value="FALSE"/>
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="ardrone2"/>
|
||||
<module name="imu" type="ardrone2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="air_data"/>
|
||||
<module name="logger_file"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="180" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
</section>
|
||||
|
||||
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.032"/>
|
||||
<define name="G1_Q" value="0.025"/>
|
||||
<define name="G1_R" value="0.0032"/>
|
||||
<define name="G2_R" value="0.16"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="380.0"/>
|
||||
<define name="REF_ERR_Q" value="380.0"/>
|
||||
<define name="REF_ERR_R" value="250.0"/>
|
||||
<define name="REF_RATE_P" value="21.6"/>
|
||||
<define name="REF_RATE_Q" value="21.6"/>
|
||||
<define name="REF_RATE_R" value="21.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<define name="FILT_CUTOFF_R" value="3.2"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="TRUE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
|
||||
<define name="JSBSIM_INIT" value="reset00" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -1,207 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="ardrone2_optitrack">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="ardrone2">
|
||||
<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
|
||||
<define name="USE_SONAR" value="0"/>
|
||||
<configure name="USE_BARO_BOARD" value="FALSE"/>
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="ardrone2"/>
|
||||
<module name="imu" type="ardrone2"/>
|
||||
<module name="gps" type="datalink"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
|
||||
<!-- Use GPS heading instead of magneto -->
|
||||
<define name="USE_GPS_HEADING" value="1"/>
|
||||
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- Use GPS altitude measurments and set the R gain -->
|
||||
<define name="USE_GPS_ALT" value="1"/>
|
||||
<define name="VFF_R_GPS" value="0.01"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.028551973"/>
|
||||
<define name="G1_Q" value="0.023775417"/>
|
||||
<define name="G1_R" value="0.00173069"/>
|
||||
<define name="G2_R" value="0.086460732"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="380.0"/>
|
||||
<define name="REF_ERR_Q" value="380.0"/>
|
||||
<define name="REF_ERR_R" value="70.0"/>
|
||||
<define name="REF_RATE_P" value="21.6"/>
|
||||
<define name="REF_RATE_Q" value="21.6"/>
|
||||
<define name="REF_RATE_R" value="11.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<define name="FILT_CUTOFF_R" value="3.2"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="180" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="583"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="false"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
|
||||
<define name="PGAIN" value="363"/>
|
||||
<define name="DGAIN" value="237"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
<define name="VGAIN" value="0"/>
|
||||
<define name="AGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
|
||||
<define name="JSBSIM_INIT" value="reset00" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
|
||||
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
|
||||
<!-- <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> -->
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -1,209 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="bebop">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="furuno"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
</modules>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="6000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AIR_DATA" prefix="AIR_DATA_">
|
||||
<define name="CALC_AIRSPEED" value="FALSE"/>
|
||||
<define name="CALC_TAS_FACTOR" value="FALSE"/>
|
||||
<define name="CALC_AMSL_BARO" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="18"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="157"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="49"/>
|
||||
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Toulouse -->
|
||||
<!--define name="H_X" value="0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value="0.858336"/-->
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="300" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
</section>
|
||||
|
||||
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.0639"/>
|
||||
<define name="G1_Q" value="0.0361"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.1450"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="600.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="28.0"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="8.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="8.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.1"/>
|
||||
<define name="ACT_DYN_Q" value="0.1"/>
|
||||
<define name="ACT_DYN_R" value="0.1"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -107,7 +107,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
|
||||
settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="#ffffcccaccca"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -151,7 +151,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
|
||||
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -162,7 +162,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -244,7 +244,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="#ffff00000000"
|
||||
release="e688107d8a1f9c933cb0931eebb0e7b009ccc445"
|
||||
/>
|
||||
@@ -268,7 +268,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
|
||||
settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="#e66affffaa08"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -404,7 +404,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/nps.xml"
|
||||
settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml [modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml [modules/ins_extended.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml [modules/geo_mag.xml] modules/air_data.xml [modules/ins_extended.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
|
||||
Reference in New Issue
Block a user