From 029264bdc2d7e22f44479e9fef6177d0e54091b9 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Wed, 28 Aug 2013 18:05:36 +0200
Subject: [PATCH] [Ardrone] Full Auto2 Flight in RAW Mode

---
 conf/airframes/ardrone2_raw.xml | 256 ++++++++++++++++----------------
 1 file changed, 131 insertions(+), 125 deletions(-)

diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 66512c4045..0b6eb33d18 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -4,214 +4,220 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2_raw">
-      <define name="USE_INS_NAV_INIT" />
+      <define name="USE_INS_NAV_INIT"/>
       <!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200" />
-      <define name="AHRS_PROPAGATE_FREQUENCY" value="200" />
-      <define name="INS_PROPAGATE_FREQUENCY" value="200" />
-      <define name="USE_BAROMETER" />
-      <subsystem name="telemetry" type="udp" />
-      <subsystem name="radio_control" type="datalink" />
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="USE_BAROMETER"/>
+      <subsystem name="telemetry" type="udp"/>
+      <subsystem name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim" />
-      <subsystem name="radio_control" type="ppm" />
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
     </target>
 
-    <subsystem name="motor_mixing" />
+    <subsystem name="motor_mixing"/>
 
-    <subsystem name="actuators" type="ardrone2" />
-    <subsystem name="imu" type="ardrone2" />
-    <subsystem name="gps" type="ublox" />
-    <subsystem name="stabilization" type="int_quat" />
-    <subsystem name="ahrs" type="int_cmpl_quat" />
-    <subsystem name="ins" type="extended" />
+    <subsystem name="actuators" type="ardrone2"/>
+    <subsystem name="imu" type="ardrone2"/>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins" type="extended"/>
 
   </firmware>
 
-  <modules main_freq="512" >
-    <load name="gps_ubx_ucenter.xml" /> 
+  <modules main_freq="512">
+    <load name="gps_ubx_ucenter.xml"/>
   </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="0" />
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
   </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_LEFT" no="3" min="0" neutral="1" max="500" />
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500" />
+    <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_LEFT" no="3" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_RIGHT" no="2" 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" />
-    <define name="NB_MOTOR" value="4" />
-    <define name="SCALE" value="255" />
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="255"/>
     <!-- Time cross layout (X), as documented in paparazzi -->
-    <define name="ROLL_COEF" value="{ 256, -256,  -256,  256 }" />
-    <define name="PITCH_COEF" value="{  256, 256, -256,  -256 }" />
-    <define name="YAW_COEF" value="{ -256,  256, -256,  256 }" />
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }" />
+    <define name="ROLL_COEF" value="{ 256, -256,  -256,  256 }"/>
+    <define name="PITCH_COEF" value="{  256, 256, -256,  -256 }"/>
+    <define name="YAW_COEF" value="{ -256,  256, -256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
   <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)" />
-    <set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]" />
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]" />
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]" />
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]" />
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="2056" />
-    <define name="ACCEL_Y_NEUTRAL" value="2060" />
-    <define name="ACCEL_Z_NEUTRAL" value="2052" />
+    <define name="ACCEL_X_NEUTRAL" value="2056"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2060"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2052"/>
+
+    <define name="MAG_X_NEUTRAL" value="99"/>
+    <define name="MAG_Y_NEUTRAL" value="59"/>
+    <define name="MAG_Z_NEUTRAL" value="-65"/>
+    <define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
+    <define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
+    <define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
 
-    <define name="MAG_X_NEUTRAL" value="-9"/>
-	  <define name="MAG_Y_NEUTRAL" value="1"/>
-	  <define name="MAG_Z_NEUTRAL" value="97"/>
 
 
     <!-- roll -->
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <!-- pitch -->
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
     <!-- yaw -->
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
   </section>
 
   <!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
   <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
   <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.3892503" />
-    <define name="H_Y" value="0.0017972" />
-    <define name="H_Z" value="0.9211303" />
+    <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="BARO_SENS" value="22.4" integer="16" />
+    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
     <!-- setpoints -->
-    <define name="SP_MAX_P" value="10000" />
-    <define name="SP_MAX_Q" value="10000" />
-    <define name="SP_MAX_R" value="10000" />
-    <define name="DEADBAND_P" value="20" />
-    <define name="DEADBAND_Q" value="20" />
-    <define name="DEADBAND_R" value="200" />
-    <define name="REF_TAU" value="4" />
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
-    <define name="GAIN_P" value="400" />
-    <define name="GAIN_Q" value="400" />
-    <define name="GAIN_R" value="350" />
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
 
-    <define name="IGAIN_P" value="75" />
-    <define name="IGAIN_Q" value="75" />
-    <define name="IGAIN_R" value="50" />
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
 
     <!-- feedforward -->
-    <define name="DDGAIN_P" value="300" />
-    <define name="DDGAIN_Q" value="300" />
-    <define name="DDGAIN_R" value="300" />
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="15" unit="deg" />
-    <define name="SP_MAX_THETA" value="15" unit="deg" />
-    <define name="SP_MAX_R" value="90" unit="deg/s" />
-    <define name="DEADBAND_A" value="0" />
-    <define name="DEADBAND_E" value="0" />
-    <define name="DEADBAND_R" value="250" />
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="600" 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="800" unit="deg/s" />
-    <define name="REF_ZETA_P" value="0.85" />
-    <define name="REF_MAX_P" value="400." unit="deg/s" />
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
+    <define name="REF_OMEGA_P" value="900" 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="800" unit="deg/s" />
-    <define name="REF_ZETA_Q" value="0.85" />
-    <define name="REF_MAX_Q" value="400." unit="deg/s" />
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
+    <define name="REF_OMEGA_Q" value="900" 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="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.)" />
+    <define name="REF_OMEGA_R" value="600" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.9"/>
+    <define name="REF_MAX_R" value="400." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN" value="592" />
-    <define name="PHI_DGAIN" value="303" />
-    <define name="PHI_IGAIN" value="0" />
+    <define name="PHI_PGAIN" value="592"/>
+    <define name="PHI_DGAIN" value="303"/>
+    <define name="PHI_IGAIN" value="0"/>
 
-    <define name="THETA_PGAIN" value="606" />
-    <define name="THETA_DGAIN" value="303" />
-    <define name="THETA_IGAIN" value="0" />
+    <define name="THETA_PGAIN" value="606"/>
+    <define name="THETA_DGAIN" value="303"/>
+    <define name="THETA_IGAIN" value="0"/>
 
-    <define name="PSI_PGAIN" value="529" />
-    <define name="PSI_DGAIN" value="353" />
-    <define name="PSI_IGAIN" value="0" />
+    <define name="PSI_PGAIN" value="529"/>
+    <define name="PSI_DGAIN" value="353"/>
+    <define name="PSI_IGAIN" value="0"/>
 
     <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0" />
-    <define name="THETA_DDGAIN" value="0" />
-    <define name="PSI_DDGAIN" value="52" />
+    <define name="PHI_DDGAIN" value="0"/>
+    <define name="THETA_DDGAIN" value="0"/>
+    <define name="PSI_DDGAIN" value="52"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
-    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
-    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
-    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
-    <define name="MAX_SUM_ERR" value="2000000" />
-    <define name="HOVER_KP" value="283" />
-    <define name="HOVER_KD" value="18" />
-    <define name="HOVER_KI" value="13" />
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP" value="283"/>
+    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KI" value="13"/>
     <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163" />
+    <define name="RC_CLIMB_COEF" value="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg" />
-    <define name="PGAIN" value="100" />
-    <define name="DGAIN" value="100" />
-    <define name="IGAIN" value="0" />
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="PGAIN" value="79"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="26"/>
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"
-      value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}" />
-    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;" />
+    <define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
   <section name="AUTOPILOT">
-    <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_HOVER_Z_HOLD" />
+    <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_HOVER_Z_HOLD"/>
   </section>
 
   <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="7500"/>
-    <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" />
+    <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>