mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-28 01:53:48 +08:00
Kirk Scheper
GitHub
@@ -0,0 +1,261 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="bebop2_optitrack_visionfront">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop2"/>
|
||||
|
||||
<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="datalink"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<!-- <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> -->
|
||||
</module>
|
||||
<define name="USE_SONAR" value="0"/>
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
|
||||
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
|
||||
<define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
|
||||
<define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
|
||||
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
|
||||
<define name="MT9F002_GAIN_GREEN1" value="4"/>
|
||||
<define name="MT9F002_GAIN_GREEN2" value="4"/>
|
||||
<define name="MT9F002_GAIN_RED" value="5"/>
|
||||
<define name="MT9F002_GAIN_BLUE" value="5"/>
|
||||
<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"/>
|
||||
<module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module>
|
||||
|
||||
<module name="video_thread"/>
|
||||
|
||||
<module name="video_capture">
|
||||
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
|
||||
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
|
||||
</module>
|
||||
|
||||
<module name="pose_history">
|
||||
<define name="POSE_HISTORY_SIZE" value="128" />
|
||||
</module>
|
||||
|
||||
<!-- <define name="INS_INT_VEL_ID" value="ABI_DISABLE"/> -->
|
||||
<module name="cv_opticflow">
|
||||
<define name="OPTICFLOW_CAMERA" value="front_camera"/>
|
||||
<define name="MAX_HORIZON" value="10"/>
|
||||
<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
|
||||
<define name="OPTICFLOW_FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
|
||||
<define name="OPTICFLOW_FOV_W" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
|
||||
<define name="OPTICFLOW_FOV_H" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
|
||||
<define name="OPTICFLOW_DEROTATION" value="0"/> <!-- formulas are not correct for the front cam -->
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
|
||||
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="0"/> <!-- feature management still sucks -->
|
||||
</module>
|
||||
|
||||
<module name="optical_flow_landing">
|
||||
<define name="OFL_PGAIN" value="0.05"/>
|
||||
<define name="OFL_IGAIN" value="0.0"/>
|
||||
|
||||
</module>
|
||||
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
|
||||
<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
|
||||
</module>
|
||||
|
||||
<!--<module name="bebop_ae_awb"/>-->
|
||||
</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_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" 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="REVERSE" value="TRUE"/>
|
||||
<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>
|
||||
|
||||
<!-- Magnetometer still needs to be calibrated -->
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="0"/>
|
||||
<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
|
||||
</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 -->
|
||||
<!-- 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_">
|
||||
<!--<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> -->
|
||||
<!-- 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="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="0.094"/>
|
||||
<define name="G1_Q" value="0.094"/>
|
||||
<define name="G1_R" value="0.0025"/>
|
||||
<define name="G2_R" value="0.36"/>
|
||||
|
||||
<!-- Here it is assumed that your removed the damping from your bebop2!
|
||||
The dampers do not really damp, but cause oscillation. By removing/
|
||||
fixing them, the bebop2 will fly much better-->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE"/>
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE"/>
|
||||
<define name="FILTER_YAW_RATE" value="FALSE"/>
|
||||
|
||||
<!-- 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="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="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="350"/>
|
||||
<define name="HOVER_KD" value="85"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
|
||||
<define name="MAX_BANK" value="32" unit="deg"/>
|
||||
<define name="PGAIN" value="220"/>
|
||||
<define name="DGAIN" value="160"/>
|
||||
<define name="IGAIN" value="15"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0"/>
|
||||
<define name="DESCEND_VSPEED" value="-1.0"/>
|
||||
</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_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_MODULE"/>
|
||||
<!-- <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="9.9" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user