mirror of
https://github.com/paparazzi/paparazzi.git
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[conf] create an examples directory for airframes
This commit is contained in:
Gautier Hattenberger
+1
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../airframe.dtd
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<airframe name="BOOZ2_a1">
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
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</servos>
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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="0"/>
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</commands>
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<!-- not needed anymore - in subsystem -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<!-- -->
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2"/>
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<define name="MAX_MOTOR" value="210"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="33924"/>
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<define name="GYRO_Q_NEUTRAL" value="33417"/>
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<define name="GYRO_R_NEUTRAL" value="32809"/>
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<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32081"/>
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<define name="ACCEL_Y_NEUTRAL" value="33738"/>
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<define name="ACCEL_Z_NEUTRAL" value="32441"/>
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<define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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<define name="MAG_X_CHAN" value="4"/>
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<define name="MAG_Y_CHAN" value="0"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
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<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
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<define name="MAG_X_SIGN" value="-1"/>
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<define name="MAG_Y_SIGN" value=" 1"/>
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<define name="MAG_Z_SIGN" value="-1"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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<define name="MAG_45_HACK" value="1"/>
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<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
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<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
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<define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="4." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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<!--
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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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-->
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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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="90." unit="deg/s"/>
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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="800" 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="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" 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="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" 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="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="400"/>
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<define name="PHI_DGAIN" value="300"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="400"/>
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<define name="THETA_DGAIN" value="300"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="380"/>
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<define name="PSI_DGAIN" value="320"/>
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<define name="PSI_IGAIN" value="75"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="15." integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="500"/>
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<define name="HOVER_KD" value="200"/>
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<define name="HOVER_KI" value="100"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<!-- <define name="INV_M" value ="0.2"/> -->
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<section name="FMS">
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<firmware name="rotorcraft">
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<target name="ap" board="booz_1.0"/>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="actuators" type="mkk"/>
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<subsystem name="imu" type="b2_v1.0"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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</airframe>
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@@ -0,0 +1,156 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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XBee modem with AT firmware
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LEA 5H GPS
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-->
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<airframe name="Delta Wing">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="ahrs" type="infrared"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="navigation"/>
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</firmware>
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<modules>
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<load name="infrared_adc.xml"/>
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</modules>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="50" unit="deg"/>
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<define name="MAX_PITCH" value="35" unit="deg"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="LATERAL_CORRECTION" value="-1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="-1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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|
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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||||
|
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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||||
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||||
<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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||||
|
||||
<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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||||
</section>
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||||
|
||||
</airframe>
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@@ -0,0 +1,150 @@
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<airframe name="DEMO">
|
||||
|
||||
<makefile>
|
||||
|
||||
ARCH=lpc21
|
||||
|
||||
FLASH_MODE = IAP
|
||||
|
||||
|
||||
#
|
||||
# simple emtpy demo
|
||||
#
|
||||
demo1.ARCHDIR = $(ARCH)
|
||||
|
||||
demo1.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo1.srcs = main_demo1.c
|
||||
|
||||
#
|
||||
# hardware init ( pll ), system time and LEDs
|
||||
#
|
||||
demo2.ARCHDIR = $(ARCH)
|
||||
|
||||
demo2.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo2.srcs = main_demo2.c
|
||||
|
||||
demo2.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
|
||||
demo2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
demo2.CFLAGS += -DUSE_LED
|
||||
|
||||
#
|
||||
# UART (interrupts) and formated ascii printing
|
||||
#
|
||||
demo3.ARCHDIR = $(ARCH)
|
||||
|
||||
demo3.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo3.srcs = main_demo3.c
|
||||
|
||||
demo3.CFLAGS += -DPERIODIC_FREQUENCY='10.' -DUSE_SYS_TIME
|
||||
demo3.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
demo3.CFLAGS += -DUSE_LED
|
||||
|
||||
demo3.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
demo3.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
|
||||
demo3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
#
|
||||
# DOWNLINK : send formated messages according to messages.xml description
|
||||
# requires "link" to run on the other side of the serial link
|
||||
#
|
||||
demo4.ARCHDIR = $(ARCH)
|
||||
|
||||
demo4.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo4.srcs = main_demo4.c
|
||||
|
||||
demo4.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
|
||||
demo4.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
demo4.CFLAGS += -DUSE_LED
|
||||
|
||||
demo4.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
|
||||
demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
|
||||
demo4.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
#
|
||||
# DATALINK : receives datalink messages. demonstrates the "settings" service
|
||||
# which lets you adjust variables described in the settings.xml file
|
||||
# IvySendMsg("1ME RAW_DATALINK 144 SETTING;0;0;%d", foo_value);
|
||||
#
|
||||
demo5.ARCHDIR = $(ARCH)
|
||||
|
||||
demo5.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo5.srcs = main_demo5.c
|
||||
|
||||
demo5.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
|
||||
demo5.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
demo5.CFLAGS += -DUSE_LED
|
||||
|
||||
demo5.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
|
||||
demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
|
||||
demo5.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
|
||||
|
||||
|
||||
#
|
||||
# Serial link over USB
|
||||
#
|
||||
demo6.ARCHDIR = $(ARCH)
|
||||
|
||||
demo6.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
demo6.srcs = main_demo6.c
|
||||
|
||||
demo6.CFLAGS += -DPERIODIC_FREQUENCY='100.'
|
||||
demo6.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
demo6.CFLAGS += -DUSE_LED
|
||||
|
||||
demo6.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
demo6.CFLAGS += -DUSE_USB_SERIAL
|
||||
#demo6.LDFLAGS += -L$(SRC_ARCH)/lpcusb -lusbstack
|
||||
demo6.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
demo6.srcs += $(SRC_ARCH)/usb_ser_hw.c
|
||||
|
||||
demo6.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
|
||||
demo6.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
//demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
|
||||
|
||||
|
||||
|
||||
#
|
||||
#
|
||||
#
|
||||
test_spk.ARCHDIR = $(ARCH)
|
||||
|
||||
test_spk.CFLAGS += -DBOARD_CONFIG=\"booz2_board_usb.h\"
|
||||
test_spk.srcs = main_test_spk.c
|
||||
|
||||
test_spk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
|
||||
test_spk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
|
||||
|
||||
test_spk.CFLAGS += -DUSE_LED
|
||||
|
||||
test_spk.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
test_spk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
|
||||
test_spk.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
|
||||
test_spk.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
|
||||
test_spk.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
|
||||
test_spk.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
|
||||
test_spk.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
|
||||
test_spk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,212 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Demo module on Tiny2.1">
|
||||
|
||||
<modules>
|
||||
<load name="demo_module.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos>
|
||||
<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="7" min="1100" neutral="1500" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<let var="yaw" value="@YAW"/>
|
||||
<set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
|
||||
<set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<define name="ALTITUDE_PGAIN" value="0.04"/>
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1."/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DSYS_TIME_LED=1
|
||||
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/main.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
########## RC actuators + radio
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
########## Modem
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
########## ADC
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
########## GPS
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
########## IR sensors
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
########## Nav
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
|
||||
ap.srcs += subsystems/navigation/nav_line.c
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,183 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Easy Glider Tiny 0.99">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
|
||||
<servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
|
||||
<servo name="AILERON_LEFT" no="4" min="2000" neutral="1508" max="1000"/>
|
||||
<servo name="AILERON_RIGHT" no="5" min="2000" neutral="1527" max="1000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.75"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.75"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="18" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.10800004005"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="15184.5644531"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
</section>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_0.99"/>
|
||||
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="LOITER_TRIM" />
|
||||
<define name="ALT_KALMAN" />
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board -->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_0.99" />
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="adc_generic.xml">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
|
||||
</load>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,166 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
-->
|
||||
|
||||
<airframe name="EasyStar TWOGv1">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="twog_1.0">
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="twog_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
|
||||
<servo name="ELEVATOR" no="3" min="1100" neutral="1515" max="1900"/>
|
||||
<servo name="RUDDER" no="4" min="950" neutral="1440" max="2050"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
</rc_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="RUDDER" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="50" unit="deg"/>
|
||||
<define name="MAX_PITCH" value="40" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="500"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="4." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="NO_XBEE_API_INIT" value="TRUE"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
|
||||
<!-- outer loop -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.125"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
|
||||
<define name="THROTTLE_SLEW" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.7"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
|
||||
<define name="PITCH_PGAIN" value="20000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
|
||||
<define name="ROLL_RATE_GAIN" value="200"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="15" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
|
||||
<define name="HOME_RADIUS" value="90" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,179 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
-->
|
||||
|
||||
<airframe name="EasyStar2 - TWOG v1">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="twog_1.0"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<define name="USE_BARO_ETS"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation" type="extra"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="twog_1.0" />
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="airspeed_ets.xml"/>
|
||||
<load name="baro_ets.xml"/>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
|
||||
<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
|
||||
<servo name="RUDDER" no="7" min="950" neutral="1612" max="2050"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
</rc_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="RUDDER" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="50" unit="deg"/>
|
||||
<define name="MAX_PITCH" value="40" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="516"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="4." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="NO_XBEE_API_INIT" value="TRUE"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
|
||||
<!-- outer loop -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
|
||||
<!-- auto airspeed and altitude inner loop -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.125"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
|
||||
<define name="THROTTLE_SLEW" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.7"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
|
||||
<define name="PITCH_PGAIN" value="20000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
|
||||
<define name="ROLL_RATE_GAIN" value="200"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="15" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
|
||||
<define name="HOME_RADIUS" value="90" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,189 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem with AT firmware
|
||||
LEA 5H GPS
|
||||
-->
|
||||
|
||||
<airframe name="Funjet Tiny 2.11">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="joystick"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,198 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem with AT firmware
|
||||
LEA 5H GPS
|
||||
-->
|
||||
|
||||
<airframe name="Funjet Tiny 2.11">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="joystick"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
<subsystem name="navigation" type="extra"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="60">
|
||||
<load name="cam_point.xml">
|
||||
<define name="POINT_CAM_YAW_PITCH" value="1"/>
|
||||
<define name="SHOW_CAM_COORDINATES" value="1"/>
|
||||
</load>
|
||||
<load name="digital_cam.xml">
|
||||
<define name="DC_SHUTTER_LED" value="3"/>
|
||||
</load>
|
||||
<load name="sys_mon.xml"/>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,206 @@
|
||||
<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
|
||||
<airframe name="booz2_a6">
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
|
||||
<servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
|
||||
<servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<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"/>
|
||||
</commands>
|
||||
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="6"/>
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="2"/>
|
||||
<define name="MAX_MOTOR" value="210"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="6"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
|
||||
<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
|
||||
<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="31948"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="31834"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32687"/>
|
||||
|
||||
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
|
||||
|
||||
|
||||
<define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="32857"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="32429"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32593"/>
|
||||
|
||||
<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-43"/>
|
||||
<define name="MAG_Y_NEUTRAL" value=" 49"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-66"/>
|
||||
|
||||
<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="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
</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="90." unit="deg/s"/>
|
||||
<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="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="400"/>
|
||||
<define name="PHI_DGAIN" value="300"/>
|
||||
<define name="PHI_IGAIN" value="100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="400"/>
|
||||
<define name="THETA_DGAIN" value="300"/>
|
||||
<define name="THETA_IGAIN" value="100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="380"/>
|
||||
<define name="PSI_DGAIN" value="320"/>
|
||||
<define name="PSI_IGAIN" value="75"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="15." integer="16"/>
|
||||
</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="500"/>
|
||||
<define name="HOVER_KD" value="200"/>
|
||||
<define name="HOVER_KI" value="100"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<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="INV_M" value ="0.2"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_l_1.0">
|
||||
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
</target>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<!-- <subsystem name="imu" type="b2_v1.1"/> -->
|
||||
<subsystem name="imu" type="aspirin_v1.0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<firmware name="lisa_test_progs">
|
||||
<target name="test_telemetry" board="lisa_l_1.0"/>
|
||||
<target name="test_baro" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.0"/>
|
||||
<target name="test_adc" board="lisa_l_1.0"/>
|
||||
<target name="test_hmc5843" board="lisa_l_1.0"/>
|
||||
<target name="test_itg3200" board="lisa_l_1.0"/>
|
||||
<target name="test_adxl345" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,226 @@
|
||||
<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
|
||||
|
||||
<airframe name="lisa_asctec">
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<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"/>
|
||||
</commands>
|
||||
|
||||
<!-- for the sim -->
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="3"/>
|
||||
<define name="MAX_MOTOR" value="200"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_NEUTRAL" value="32276"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="33987"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32801"/>
|
||||
<define name="GYRO_P_SENS" value="0.92466" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="0.92943" integer="16"/>
|
||||
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="25875"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="26273"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="26152"/>
|
||||
<define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
|
||||
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<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="1." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="1." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="1." 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="45. " unit="deg"/>
|
||||
|
||||
</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"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
</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="90." unit="deg/s"/>
|
||||
<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="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="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="10." integer="16"/>
|
||||
</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="500"/>
|
||||
<define name="HOVER_KD" value="200"/>
|
||||
<define name="HOVER_KI" value="100"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<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="INV_M" value ="0.2"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--load name="vehicle_interface_overo_link.xml"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_l_1.1">
|
||||
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="actuators" type="asctec_v2"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<define name="RADIO_MODE" value="RADIO_AUX2"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_test_progs">
|
||||
<target name="test_led" board="lisa_l_1.1"/>
|
||||
<target name="test_uart" board="lisa_l_1.1"/>
|
||||
<target name="test_servos" board="lisa_l_1.1"/>
|
||||
<target name="test_telemetry" board="lisa_l_1.1"/>
|
||||
<target name="test_baro" board="lisa_l_1.1"/>
|
||||
<target name="test_imu_b2" board="lisa_l_1.1"/>
|
||||
<target name="test_imu_b2_2" board="lisa_l_1.1"/>
|
||||
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.1"/>
|
||||
<target name="test_adc" board="lisa_l_1.1"/>
|
||||
<target name="test_hmc5843" board="lisa_l_1.1"/>
|
||||
<target name="test_itg3200" board="lisa_l_1.1"/>
|
||||
<target name="test_adxl345" board="lisa_l_1.1"/>
|
||||
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
|
||||
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
|
||||
<target name="test_actuators_mkk" board="lisa_l_1.1"/>
|
||||
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,208 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 1.1 board (http://paparazzi.enac.fr/wiki/Tiny)
|
||||
Tilted infrared sensor
|
||||
Xbee modem in API mode
|
||||
-->
|
||||
|
||||
<airframe name="Microjet Tiny 1.1">
|
||||
|
||||
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="SHUTTER" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_SIGN" value="1"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="500"/>
|
||||
<!--define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/-->
|
||||
<!--define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/-->
|
||||
<!--define name="ROLL_SCALE" value="3.3*1000./1024./(IMU_ADXRS300_SENSITIVITY*IMU_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/-->
|
||||
<!--define name="RATE_DEGS_TO_RADINT" value="M_PI/180./4096."/-->
|
||||
<!--define name="GYRO_P_SENS" value="IMU_RATE_DEGS_TO_RADINT * IMU_ROLL_SCALE" integer="16"/-->
|
||||
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.0"/>
|
||||
<define name="COURSE_DGAIN" value="0.3"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1500"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value=""Malolo1""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc" />
|
||||
<target name="jsbsim" board="pc"/>
|
||||
<target name="ap" board="tiny_1.1"/>
|
||||
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="LOITER_TRIM" />
|
||||
<define name="ALT_KALMAN" />
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_3"/>
|
||||
</subsystem>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="openlog.xml"/>
|
||||
<load name="infrared_adc.xml"/>
|
||||
<load name="digital_cam_servo.xml">
|
||||
<define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_1.1" />
|
||||
<target name="usb_tunnel_0" board="tiny_1.1" />
|
||||
<target name="usb_tunnel_1" board="tiny_1.1" />
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,195 @@
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
|
||||
|
||||
<airframe name="fraser">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<define name="ACTUATORS_START_DELAY" value="3"/>
|
||||
<configure name="AHRS_ALIGNER_LED" value="3"/>
|
||||
<subsystem name="actuators" type="pwm_supervision"/>
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="aspirin_v2.0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
</firmware>
|
||||
|
||||
<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>
|
||||
|
||||
<!-- for the sim -->
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<!-- FRONT, BACK, RIGHT, LEFT -->
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="STOP_MOTOR" value="1000"/>
|
||||
<define name="MIN_MOTOR" value="1100"/>
|
||||
<define name="MAX_MOTOR" value="1900"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<!-- front/back turning CW, left/right CCW -->
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</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"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-152"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-51"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="10"/>
|
||||
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.83055079257" 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="-45." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="22.3" 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"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<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"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<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="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." 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"/>
|
||||
|
||||
<!-- 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_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_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="1000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</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="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="USE_REF" value="1"/>
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_aspirin.h""/>
|
||||
</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"/>
|
||||
</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="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,191 @@
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
|
||||
|
||||
<airframe name="fraser">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_1.0">
|
||||
<define name="ACTUATORS_START_DELAY" value="3"/>
|
||||
<configure name="AHRS_ALIGNER_LED" value="3"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
<subsystem name="imu" type="aspirin_v1.5"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
</firmware>
|
||||
|
||||
<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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<!-- FRONT, BACK, RIGHT, LEFT -->
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="2"/>
|
||||
<define name="MAX_MOTOR" value="200"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<!-- front/back turning CW, left/right CCW -->
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</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"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-152"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-51"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="10"/>
|
||||
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.83055079257" 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="-45." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="22.3" 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"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<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"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<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="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." 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"/>
|
||||
|
||||
<!-- 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_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_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="1000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</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="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="USE_REF" value="1"/>
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_aspirin.h""/>
|
||||
</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"/>
|
||||
</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="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,186 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Aligned infrared sensor
|
||||
XBee modem with AT firmware
|
||||
LEA 5H GPS
|
||||
-->
|
||||
|
||||
<airframe name="Twinjet">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="twog_1.0"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_3"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="twog_1.0" />
|
||||
<target name="usb_tunnel_0" board="twog_1.0" />
|
||||
<target name="usb_tunnel_1" board="twog_1.0" />
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="adc_generic.xml">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
|
||||
</load>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="AILEVON_LEFT" value="-$aileron + $elevator"/>
|
||||
<set servo="AILEVON_RIGHT" value="$aileron + $elevator"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.25"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_SIGN" value="1."/>
|
||||
<define name="GYRO_P_NEUTRAL" value="316"/>
|
||||
<define name="GYRO_P_SENS" value="1." integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.9"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1500"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.05"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="50" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,203 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
|
||||
Graupner C19 receiver
|
||||
TWOG V1 board
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor
|
||||
XBee modem with AT firmware
|
||||
LEA 4P GPS (set to POSLLH)
|
||||
-->
|
||||
|
||||
<airframe name="Twinstar">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="twog_1.0"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="twog_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="1" min="1050" neutral="1480" max="1900"/>
|
||||
<servo name="ELEVATOR" no="2" min="1750" neutral="1530" max="1250"/>
|
||||
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="AILERON_RIGHT" no="4" min="1200" neutral="1610" max="2000"/>
|
||||
<servo name="FWHEEL" no="5" min="1900" neutral="1470" max="1100"/>
|
||||
<servo name="HATCH" no="6" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_ROLL" no="7" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_PITCH" no="8" min="1000" neutral="1500" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="CAM_ROLL" failsafe_value="0"/>
|
||||
<axis name="CAM_PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="HATCH" value="@CALIB"/>
|
||||
</rc_commands>
|
||||
|
||||
<auto_rc_commands>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</auto_rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<set servo="FWHEEL" value="@YAW"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
<set servo="CAM_ROLL" value="@CAM_ROLL"/>
|
||||
<set servo="CAM_PITCH" value="@CAM_PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.7"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="6000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="1700."/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,214 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Use settings/tuning_ins.xml
|
||||
Use telemetry/default_fixedwing_imu.xml
|
||||
|
||||
Reely Condor
|
||||
TWOG v1.0 Board (http://paparazzi.enac.fr/wiki/TWOG)
|
||||
Sparkfun Razor IMU with Premerlani Code
|
||||
wi.232 Radiomodems
|
||||
-->
|
||||
|
||||
|
||||
<airframe name="Reely Condor CHNI">
|
||||
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="7" min="1200" neutral="1200" max="2000"/>
|
||||
<servo name="AILERON" no="4" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
|
||||
<servo name="CAM" no="2" max="2000" neutral="1500" min="1000"/>
|
||||
<servo name="TILT" no="6" max="2000" neutral="1501" min="1000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILERON" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_NEUTRAL" value="512"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="512"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="GYRO_P_SENS" value="0.017" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="0.017" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="0.017" integer="16"/>
|
||||
|
||||
<define name="GYRO_P_SIGN" value="1" />
|
||||
<define name="GYRO_Q_SIGN" value="1" />
|
||||
<define name="GYRO_R_SIGN" value="-1" />
|
||||
|
||||
<define name="ACCEL_X_SENS" value="0.1" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="512"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="512"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="ACCEL_X_SIGN" value="1"/>
|
||||
<define name="ACCEL_Y_SIGN" value="-1"/>
|
||||
<define name="ACCEL_Z_SIGN" value="1"/>
|
||||
|
||||
<!-- this should not be needed if no mag is used -->
|
||||
<define name="MAG_X_NEUTRAL" value="512"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="512"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="512"/>
|
||||
|
||||
<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>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="1.0"/>
|
||||
<define name="MAX_PITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<!-- settings for the Analog IMU -->
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- 3S LiPo with 1050mAh, connected to an 20A ESC -->
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA" />
|
||||
<define name="VOLTAGE_ADC_A" value="0.02456533604651162791"/>
|
||||
<define name="VOLTAGE_ADC_B" value="0.24024993023255813953"/>
|
||||
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="TELEMETRY_MODE_FBW" value="1"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12.5" unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.85"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
|
||||
<define name="ROLL_PGAIN" value="12000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="twog_1.0">
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="LOITER_TRIM" />
|
||||
<define name="ALT_KALMAN" />
|
||||
</target>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
<!-- Actuators are automatically chosen according to the board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_0"/>
|
||||
<configure name="GYRO_Q" value="ADC_1"/>
|
||||
<configure name="GYRO_R" value="ADC_2"/>
|
||||
<configure name="ACCEL_X" value="ADC_5"/>
|
||||
<configure name="ACCEL_Y" value="ADC_6"/>
|
||||
<configure name="ACCEL_Z" value="ADC_7"/>
|
||||
<configure name="ADC_ACCEL_NB_SAMPLES" value="32"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="ahrs" type="float_dcm"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user