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[Ardrone] Full Auto2 Flight in RAW Mode

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Christophe De Wagter
2013-08-28 18:05:36 +02:00
parent 11b48b413e
commit 029264bdc2
1 changed files with 131 additions and 125 deletions
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conf/airframes/ardrone2_raw.xml
+29 -23
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@@ -74,9 +74,16 @@
<define name="ACCEL_Y_NEUTRAL" value="2060"/> <define name="ACCEL_Y_NEUTRAL" value="2060"/>
<define name="ACCEL_Z_NEUTRAL" value="2052"/> <define name="ACCEL_Z_NEUTRAL" value="2052"/>
<define name="MAG_X_NEUTRAL" value="-9"/> <define name="MAG_X_NEUTRAL" value="99"/>
<define name="MAG_Y_NEUTRAL" value="1"/> <define name="MAG_Y_NEUTRAL" value="59"/>
<define name="MAG_Z_NEUTRAL" value="97"/> <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"/>
<!-- roll --> <!-- roll -->
@@ -127,28 +134,28 @@
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_PHI" value="15" unit="deg" /> <define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="15" unit="deg" /> <define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="90" unit="deg/s" /> <define name="SP_MAX_R" value="600" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/> <define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/> <define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/> <define name="DEADBAND_R" value="250"/>
<!-- reference --> <!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s" /> <define name="REF_OMEGA_P" value="900" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85" /> <define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="400." unit="deg/s" /> <define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s" /> <define name="REF_OMEGA_Q" value="900" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85" /> <define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="400." unit="deg/s" /> <define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s" /> <define name="REF_OMEGA_R" value="600" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85" /> <define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="180." unit="deg/s" /> <define name="REF_MAX_R" value="400." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" /> <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
<!-- feedback --> <!-- feedback -->
<define name="PHI_PGAIN" value="592"/> <define name="PHI_PGAIN" value="592"/>
@@ -176,26 +183,25 @@
<define name="MAX_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="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="283"/> <define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="18" /> <define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/> <define name="HOVER_KI" value="13"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> <!-- 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% --> <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/> <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"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section> </section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/> <define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100" /> <define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="0" /> <define name="IGAIN" value="26"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" <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;}"/>
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="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/> <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section> </section>
@@ -207,7 +213,7 @@
</section> </section>
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="7500"/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/> <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>