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Fix more airframes (#3384)

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* rotwing_automation was removed
* GVF was missing and gave compile warnings
* INS_EXT_VISION_ROTATION define is in airframe, not genertic define
* rename rot_wing also in conf
* Oneloop controller does not export specific thrust
* Missing conf file
* rotwing_vis_transition removed
* Missing airframe
This commit is contained in:
Christophe De Wagter
2024-10-02 15:08:15 +02:00
committed by GitHub
parent b7b64d4f44
commit 0abafed245
13 changed files with 552 additions and 65 deletions
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conf/airframes/AG/rot_wing_v3c_oneloop_optitrack_ext_pose_AG.xml
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<!-- This is a 7kg Rotating Wing Drone AG
* Airframe: TUD00???
* Autopilot: Cube orange
* Datalink: Herelink
* GPS: UBlox F9P
* RC: SBUS Crossfire
-->
<airframe name="RotatingWing_AG">
<description>RotatingWingV3AG with optitrack and INS ext pose</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_oneloop_switch.xml"/>
<target name="ap" board="cube_orangeplus">
<configure name="PERIODIC_FREQUENCY" value="500"/> <!-- Configure the main periodic frequency to 500Hz -->
<configure name="NAVIGATION_FREQUENCY" value="500"/>
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/> <!-- On the TELEM2 port -->
</module>
<module name="sys_mon"/>
<module name="flight_recorder"/>
<module name="lidar_tfmini">
<configure name="TFMINI_PORT" value="UART8"/>
<configure name="USE_TFMINI_AGL" value="TRUE"/>
</module>
<!-- RC switches -->
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="AP_MODE_SWITCH" value="RADIO_AUX3"/>
<define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>
<!-- EKF EXT POSE configure inputs -->
<define name="INS_EXT_POSE_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
<define name="INS_EXT_POSE_IMU_ID" value="IMU_CUBE1_ID"/>
<!--Only send gyro and accel that is being used-->
<define name="IMU_GYRO_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<define name="IMU_ACCEL_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<!-- Range sensor connected to supercan -->
<module name="range_sensor_uavcan"/>
<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
<define name="I2C2_CLOCK_SPEED" value="100000"/>
</target>
<target name="nps" board="pc">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="NAVIGATION_FREQUENCY" value="500"/>
<module name="radio_control" type="datalink"/>
<module name="fdm" type="jsbsim"/>
<!--Not dealing with these in the simulation-->
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
<define name="AP_MODE_SWITCH" value="RADIO_AUX7"/> <!-- Switch between AP controllers -->
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/> <!-- Kill switch -->
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
</target>
<!-- Datalink -->
<module name="telemetry" type="transparent">
<!-- herelink -->
<configure name="MODEM_BAUD" value="B460800"/>
<!-- usb connection -->
<!-- <configure name="MODEM_PORT" value="usb_serial"/> -->
<!-- Xbee -->
<!-- <configure VALUE="B57600" name="MODEM_BAUD"/> -->
</module>
<!-- Sensors -->
<module name="mag" type="rm3100">
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
</module>
<module name="airspeed" type="uavcan">
<define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE" />
<define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" />
<define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" />
<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
</module>
<module name="air_data"/>
<module name="gps" type="datalink"/>
<!-- IMU / INS -->
<module name="imu" type="cube"/>
<module name="ins" type="ext_pose"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
<configure value="TRUE" name="UAVCAN_USE_CAN2"/>
</module>
<!-- Actuators on PWM -->
<module name="actuators" type="pwm" >
<define name="SERVO_HZ" value="400"/>
</module>
<!-- Control -->
<module name="stabilization" type="oneloop" >
<configure name="INDI_NUM_ACT" value="9"/>
</module>
<module name="guidance" type="oneloop"/>
<module name="nav" type="hybrid">
<define name="NAV_HYBRID_MAX_AIRSPEED" value="19.0f"/>
<define name="NAV_HYBRID_SPEED_MARGIN" value="0.0f"/>
<define name="NAV_HYBRID_MAX_ACCELERATION" value="4.0f"/>
<define name="NAV_HYBRID_MAX_DECELERATION" value="2.0f"/>
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
<define name="NAV_OPTITRACK" value="TRUE"/>
</module>
<module name="oneloop" type="andi">
<configure name="ANDI_OUTPUTS" value="6"/>
</module>
<module name="eff_scheduling_rotwing_V2"/>
<module name="wls">
<define name="WLS_N_U_MAX" value = "11"/>
<define name="WLS_N_V_MAX" value = "6"/>
</module>
<module name="ground_detect"/>
<module name="rotwing_state_V2">
<define name="RW_USE_MODULES_V2" value="TRUE"/>
</module>
<module name="agl_dist"/>
</firmware>
<!-- PWM actuators -->
<!-- <servos driver="Pwm">
<servo no="0" name="ROTATION_MECH" min="1240" neutral="1468" max="1696"/>
</servos> -->
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="600" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="600" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="600" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="600" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="200" max="7372"/>
<servo no="5" name="ROTATION_MECH" min="-2048" neutral="-205" max="1638"/>
</servos>
<!-- CAN BUS 1 command outputs-->
<servos driver="Uavcan1Cmd">
<servo no="6" name="SERVO_ELEVATOR" min="3767" neutral="3767" max="-5668"/>
<servo no="7" name="SERVO_RUDDER" min="-5225" neutral="0" max="5225"/>
</servos>
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="600" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="600" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="600" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="600" max="7372"/>
<servo no="5" name="BROTATION_MECH" min="-2048" neutral="-205" max="1638"/>
</servos>
<!-- CAN BUS 2 command outputs-->
<servos driver="Uavcan2Cmd">
<servo no="8" name="AIL_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="9" name="FLAP_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="10" name="FLAP_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
<servo no="11" name="AIL_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
</servos>
<commands>
<!-- Real actuators commands -->
<axis name="MOTOR_FRONT" group ="REAL" failsafe_value="0"/> <!-- IDX 0-->
<axis name="MOTOR_RIGHT" group ="REAL" failsafe_value="0"/> <!-- IDX 1-->
<axis name="MOTOR_BACK" group ="REAL" failsafe_value="0"/> <!-- IDX 2-->
<axis name="MOTOR_LEFT" group ="REAL" failsafe_value="0"/> <!-- IDX 3-->
<axis name="MOTOR_PUSHER" group ="REAL" failsafe_value="0"/> <!-- IDX 4-->
<axis name="ELEVATOR" group ="REAL" failsafe_value="0"/> <!-- IDX 5-->
<axis name="RUDDER" group ="REAL" failsafe_value="0"/> <!-- IDX 6-->
<axis name="AILERONS" group ="REAL" failsafe_value="0"/> <!-- IDX 7-->
<axis name="FLAPS" group ="REAL" failsafe_value="0"/> <!-- IDX 8-->
<!-- Virtual actuators commands -->
<axis name="ROLL" group ="VIRTUAL" failsafe_value="0"/> <!-- ID X 9-->
<axis name="PITCH" group ="VIRTUAL" failsafe_value="0"/> <!-- IDX 10-->
<!-- Passive actuators commands -->
<axis name="ROT_MECH" group ="PASSIVE" failsafe_value="0"/> <!-- IDX 11-->
<!-- Legacy commands-->
<axis name="YAW" group ="OTHER" failsafe_value="0"/>
<axis name="THRUST" group ="OTHER" failsafe_value="0"/>
</commands>
<command_laws>
<let VAR="th_hold" VALUE="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
<let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_FRONT])" SERVO="MOTOR_FRONT"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_RIGHT])" SERVO="MOTOR_RIGHT"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_BACK] )" SERVO="MOTOR_BACK"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_LEFT] )" SERVO="MOTOR_LEFT"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_PUSHER])" SERVO="MOTOR_PUSH"/>
<set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : commands[COMMAND_ELEVATOR]))" SERVO="SERVO_ELEVATOR"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : commands[COMMAND_RUDDER])" SERVO="SERVO_RUDDER"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : commands[COMMAND_AILERONS])" SERVO="AIL_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : commands[COMMAND_AILERONS])" SERVO="AIL_RIGHT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : commands[COMMAND_FLAPS])" SERVO="FLAP_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : commands[COMMAND_FLAPS])" SERVO="FLAP_RIGHT"/>
<set VALUE="commands[COMMAND_ROT_MECH]" SERVO="ROTATION_MECH"/>
<!-- Backup commands -->
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_FRONT])" SERVO="BMOTOR_FRONT"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_RIGHT])" SERVO="BMOTOR_RIGHT"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_BACK] )" SERVO="BMOTOR_BACK"/>
<set VALUE="($th_hold? -9600 : commands[COMMAND_MOTOR_LEFT] )" SERVO="BMOTOR_LEFT"/>
<set VALUE="commands[COMMAND_ROT_MECH]" SERVO="BROTATION_MECH"/>
</command_laws>
<section NAME="MISC">
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="15"/>
<define name="NAV_LINE_DIST" value="100"/>
<define name="CLOSE_TO_WAYPOINT" value="15"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
<define name="USE_AIRSPEED" value="TRUE"/>
<define name="STABILIZATION_ATTITUDE_SP_MAX_PHI" value="45." unit="deg" />
<define name="STABILIZATION_ATTITUDE_SP_MAX_THETA" value="45." unit="deg" />
<define name="STABILIZATION_ATTITUDE_SP_MAX_R" value="90." unit="deg/s"/>
<define name="STABILIZATION_ATTITUDE_DEADBAND_R" value="200" />
<define name="FWD_SIDESLIP_GAIN" value="0.25"/> <!-- cyfoam 0.32-->
<!-- <define name="THRESHOLD_GROUND_DETECT" value="40"/> -->
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
<define name="INS_EXT_VISION_ROTATION" value="TRUE"/>
</section>
<section name="GROUND_DETECT">
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={2,11,22}, .scale={{9223,33875,50285},{941,3469,5167}}, .filter_sample_freq=1131.0, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-2,-2,20}, .scale={{9843,7289,11251},{2014,1485,2294}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-31,-13,10}, .scale={{49268,7401,20459},{10091,1513,4191}}} }"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={-14,3,42}, .scale={{17279,2209,36874},{30247,3800,64095}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1134.1, .filter_freq=30}}"/>
<define name="BODY_TO_IMU_PHI" value="-4.54" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="1.84" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section PREFIX="ONELOOP_ANDI_" NAME="ONELOOP_ANDI">
<define name = "HEADING_MANUAL" value = "TRUE"/>
<define name = "YAW_STICK_IN_AUTO" value = "TRUE"/>
<define name = "MAX_R" value = "120.0" unit="deg/s"/>
<define name = "FILT_CUTOFF" value = "3.0" />
<define name = "FILT_CUTOFF_ACC" value = "2.0"/>
<define name = "FILT_CUTOFF_VEL" value = "5.0"/>
<define name = "FILT_CUTOFF_POS" value = "10.0"/>
<define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" />
<define name = "FILT_CUTOFF_P" value = "2.0"/>
<define name = "FILT_CUTOFF_Q" value = "2.0"/>
<define name = "FILT_CUTOFF_R" value = "3.0" />
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
<define name = "ACT_MAX_NORM" value = "{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/>
<define name = "ACT_MIN_NORM" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f}"/>
<define name = "WU" value = "{ 0.75f, 0.75f, 0.75f, 0.75f, 1.00f, 6.0f, 6.0f, 6.0f, 6.0f, 1.20f, 1.20f}"/>
<define name = "U_PREF" value = "{ 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 8000.0f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f}"/>
<define name = "WV" value = "{ 4.0f, 4.0f, 4.0f, 8.0f, 8.0f, 1.00f}"/>
</section>
<section name="CTRL_EFF_SHED" prefix="ROTWING_EFF_SCHED_">
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<!-- <define name = "dFdu" value = "{-0.50f, -0.50f, -0.50f, -0.50f, 0.55f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f }"/>
<define name = "dMzdu" value = "{-0.40f, 0.40f, -0.40f, 0.40f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f }"/>
<define name = "dMzdu_G2" value = "{-0.02f, 0.02f, -0.02f, 0.02f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f, 0.00f }"/>
<define name = "l" value = "{ 0.423f, 0.408f, 0.423f, 0.408f, 0.00f, 1.00f, 1.00f, 1.00f, 1.00f, 0.00f, 0.00f }"/> -->
<define name="IXX_BODY" value="0.04780"/>
<define name="IYY_BODY" value="0.7546"/>
<define name="IZZ" value="0.9752"/>
<define name="IXX_WING" value="0.08099"/>
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<!-- <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/> -->
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="TAKEOFF_BAT_LEVEL" value="24.2" unit="V"/>
<define name="BAT_NB_CELLS" value="6"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_MODEL" value="rotwingv3c_SI" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="USE_COMMANDS" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
</airframe>
conf/airframes/examples/bebop2_gvf.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_gvf">
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="STABILIZATION_INDI_G2_R" value="0.2784"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="STABILIZATION_INDI_G2_R" value="0.0"/><!-- for jsbsim (rotor inertia is not modelled) -->
<!-- <define name="STABILIZATION_INDI_G2_R" value="0.20"/> --><!-- for gazebo -->
</target>
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi_simple"/>
<module name="ins" type="ekf2"/>
<module name="gvf_module"/>
<!--module name="gvf_parametric"/-->
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/>
<module name="logger_file">
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
</module>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="43"/>
<define name="MAG_Y_NEUTRAL" value="-151"/>
<define name="MAG_Z_NEUTRAL" value="-64"/>
<define name="MAG_X_SENS" value="7.21201776785" integer="16"/>
<define name="MAG_Y_SENS" value="7.20541442846" integer="16"/>
<define name="MAG_Z_SENS" value="7.55306977197" integer="16"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.0390"/>
<define name="G1_Q" value="0.0473"/>
<define name="G1_R" value="0.00122"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="170.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="14.3"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
</section>
<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/rotwing_v3c_oneloop.xml
+2 -3
View File
@@ -138,11 +138,10 @@
</module> </module>
<module name="ground_detect"/> <module name="ground_detect"/>
<module name="rotwing_state_V2"/> <module name="rotwing_state_V2">
<module name="agl_dist"/>
<module name="rotwing_automation">
<define name="RW_USE_MODULES_V2" value="TRUE"/> <define name="RW_USE_MODULES_V2" value="TRUE"/>
</module> </module>
<module name="agl_dist"/>
</firmware> </firmware>
<!-- PWM actuators --> <!-- PWM actuators -->
conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack.xml
+2 -3
View File
@@ -139,11 +139,10 @@
</module> </module>
<module name="ground_detect"/> <module name="ground_detect"/>
<module name="rotwing_state_V2"/> <module name="rotwing_state_V2">
<module name="agl_dist"/>
<module name="rotwing_automation">
<define name="RW_USE_MODULES_V2" value="TRUE"/> <define name="RW_USE_MODULES_V2" value="TRUE"/>
</module> </module>
<module name="agl_dist"/>
</firmware> </firmware>
<!-- PWM actuators --> <!-- PWM actuators -->
conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack_ext_pose.xml
+2 -3
View File
@@ -131,11 +131,10 @@
</module> </module>
<module name="ground_detect"/> <module name="ground_detect"/>
<module name="rotwing_state_V2"/> <module name="rotwing_state_V2">
<module name="agl_dist"/>
<module name="rotwing_automation">
<define name="RW_USE_MODULES_V2" value="TRUE"/> <define name="RW_USE_MODULES_V2" value="TRUE"/>
</module> </module>
<module name="agl_dist"/>
</firmware> </firmware>
<!-- PWM actuators --> <!-- PWM actuators -->
conf/airframes/tudelft/rotwing_v3c_oneloop_simulation.xml
+1 -3
View File
@@ -102,11 +102,9 @@
<module name="rotwing_state_V2"> <module name="rotwing_state_V2">
<define name = "USE_ROTMECH_VIRTUAL" value = "TRUE"/> <define name = "USE_ROTMECH_VIRTUAL" value = "TRUE"/>
<define name = "ROTMECH_DYN" value = "3.0"/> <define name = "ROTMECH_DYN" value = "3.0"/>
<define name="RW_USE_MODULES_V2" value="TRUE"/>
</module> </module>
<module name="agl_dist"/> <module name="agl_dist"/>
<module name="rotwing_automation">
<define name="RW_USE_MODULES_V2" value="TRUE"/>
</module>
</firmware> </firmware>
<!-- PWM actuators --> <!-- PWM actuators -->
conf/flight_plans/tudelft/oneloop_valkenburg.xml
+8 -26
View File
@@ -135,59 +135,41 @@
<block name="Standby" strip_button="Standby" strip_icon="wp_quad.png"> <block name="Standby" strip_button="Standby" strip_icon="wp_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="STDBY" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <stay wp="STDBY"/>
</block> </block>
<block name="Standby_fwd" strip_button="Standby_fwd" strip_icon="wp_fwd.png"> <block name="Standby_fwd" strip_button="Standby_fwd" strip_icon="wp_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="STDBY" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <stay wp="STDBY"/>
</block> </block>
<block name="Descend" strip_button="Descend" strip_icon="descend.png"> <block name="Descend" strip_button="Descend" strip_icon="descend.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="Descend" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <stay wp="Descend"/>
</block> </block>
<!-- <block name="stay_begin-trans">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="begin_trans" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="end_transition">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="end_trans"/>
</block>-->
<block name="transition_CW" strip_button="transition_CW" strip_icon="transition_right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
</block>
<block name="transition_CCW" strip_button="transition_CCW" strip_icon="transition_left.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
</block>
<block name="safe" strip_button="Unsafe" strip_icon="alert.png"> <block name="safe" strip_button="Unsafe" strip_icon="alert.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="HOME" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <stay wp="HOME"/>
</block> </block>
<block name="Circle_CW_fwd" strip_button="CircleCW_Forward" strip_icon="circle_cw_fwd.png"> <block name="Circle_CW_fwd" strip_button="CircleCW_Forward" strip_icon="circle_cw_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="100" wp="circ" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <circle radius="100" wp="circ"/>
</block> </block>
<block name="Circle_CCW_fwd" strip_button="CircleCCW_Forward" strip_icon="circle_ccw_fwd.png"> <block name="Circle_CCW_fwd" strip_button="CircleCCW_Forward" strip_icon="circle_ccw_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="-100" wp="circ" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <circle radius="-100" wp="circ"/>
</block> </block>
<block name="Circle_CW_quad" strip_button="CircleCW_Quad" strip_icon="circle_cw_quad.png"> <block name="Circle_CW_quad" strip_button="CircleCW_Quad" strip_icon="circle_cw_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="100" wp="circ" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <circle radius="100" wp="circ"/>
</block> </block>
<block name="Circle_CCW_quad" strip_button="CircleCCW_Quad" strip_icon="circle_ccw_quad.png"> <block name="Circle_CCW_quad" strip_button="CircleCCW_Quad" strip_icon="circle_ccw_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/> <call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="-100" wp="circ" pre_call="rotwing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> <circle radius="-100" wp="circ"/>
</block> </block>
<block name="route_fw" strip_button="Route_fwd" strip_icon="path.png"> <block name="route_fw" strip_button="Route_fwd" strip_icon="path.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
conf/telemetry/GVF/gvf_default_rotorcraft.xml
+2 -2
View File
@@ -40,7 +40,7 @@
<message name="WIND_INFO_RET" period="1."/> <message name="WIND_INFO_RET" period="1."/>
<message name="AHRS_REF_QUAT" period="0.5"/> <message name="AHRS_REF_QUAT" period="0.5"/>
<message name="STAB_ATTITUDE" period=".25"/> <message name="STAB_ATTITUDE" period=".25"/>
<message name="EFF_MAT_G" period="2.0"/> <message name="EFF_MAT_STAB" period="2.0"/>
</mode> </mode>
<mode name="ppm"> <mode name="ppm">
@@ -114,7 +114,7 @@
<message name="STAB_ATTITUDE_FLOAT" period=".03"/> <message name="STAB_ATTITUDE_FLOAT" period=".03"/>
<message name="STAB_ATTITUDE_REF_FLOAT" period=".03"/> <message name="STAB_ATTITUDE_REF_FLOAT" period=".03"/>
<message name="STAB_ATTITUDE" period=".25"/> <message name="STAB_ATTITUDE" period=".25"/>
<message name="EFF_MAT_G" period="2.0"/> <message name="EFF_MAT_STAB" period="2.0"/>
</mode> </mode>
<mode name="vert_loop" key_press="v"> <mode name="vert_loop" key_press="v">
conf/userconf/tudelft/conf.xml
+9 -20
View File
@@ -249,7 +249,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.xml" flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml"
settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_chirp.xml modules/sys_id_doublet.xml modules/target_pos.xml" settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_chirp.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft <aircraft
@@ -582,26 +582,15 @@
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/stabilization_indi.xml" settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/stabilization_indi.xml"
gui_color="#ffffcccaccca" gui_color="#ffffcccaccca"
/> />
<aircraft
name="Bebop2_DePonti"
ac_id="37"
airframe="airframes/tudelft/bebop2_oneloop.xml"
radio="radios/dummy.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml [modules/guidance_indi.xml] [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/ins_extended.xml [modules/nav_basic_rotorcraft.xml] [modules/stabilization_indi_simple.xml] modules/stabilization_indi.xml modules/oneloop_andi.xml"
gui_color="#ffffcccaccca"
/>
<aircraft <aircraft
name="RW3C_DePonti" name="RW3C_DePonti"
ac_id="95" ac_id="95"
airframe="airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml" airframe="airframes/tudelft/rotwing_v3c_oneloop_optitrack_ext_pose.xml"
radio="radios/crossfire_sbus.xml" radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml" flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rot_wing_V2.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rot_wing_automation.xml modules/rotwing_state_V2.xml" settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state_V2.xml"
gui_color="#ffffcccaccca" gui_color="#ffffcccaccca"
/> />
<aircraft <aircraft
@@ -612,7 +601,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml" flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_automation.xml modules/rotwing_state_V2.xml" settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state_V2.xml"
gui_color="#ffffcccaccca" gui_color="#ffffcccaccca"
/> />
<aircraft <aircraft
@@ -623,7 +612,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml" flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml" settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red" gui_color="red"
/> />
<aircraft <aircraft
@@ -656,10 +645,10 @@
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml" flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rot_wing_V2.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rot_wing_automation.xml modules/rotwing_state_V2.xml" settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml modules/imu_heater.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state_V2.xml"
gui_color="#ffffcccaccca" gui_color="#ffffcccaccca"
/> />
<aircraft <aircraft
name="RotatingWingV3C" name="RotatingWingV3C"
ac_id="34" ac_id="34"
airframe="airframes/tudelft/rotwing_v3c_oneloop.xml" airframe="airframes/tudelft/rotwing_v3c_oneloop.xml"
@@ -667,7 +656,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml" telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml" flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml"
settings="settings/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/oneloop_andi.xml" settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state_V2.xml"
gui_color="red" gui_color="red"
/> />
<aircraft <aircraft
sw/airborne/modules/ctrl/eff_scheduling_rotwing_V2.c
+1
View File
@@ -29,6 +29,7 @@
#include "modules/actuators/actuators.h" #include "modules/actuators/actuators.h"
#include "modules/core/abi.h" #include "modules/core/abi.h"
#include "filters/low_pass_filter.h" #include "filters/low_pass_filter.h"
#include "modules/ins/ins_ext_pose.h"
#define FORCE_ONELOOP #define FORCE_ONELOOP
#ifdef FORCE_ONELOOP #ifdef FORCE_ONELOOP
sw/airborne/modules/guidance/gvf/gvf.c
+4 -4
View File
@@ -128,13 +128,13 @@ void gvf_init(void)
} }
// GENERIC TRAJECTORY CONTROLLER // GENERIC TRAJECTORY CONTROLLER
void gvf_control_2D(float ke, float kn, float e, void gvf_control_2D(float ke, float kn __attribute__((unused)), float e,
struct gvf_grad *grad, struct gvf_Hess *hess) struct gvf_grad *grad, struct gvf_Hess *hess)
{ {
gvf_t0 = get_sys_time_msec(); gvf_t0 = get_sys_time_msec();
gvf_low_level_getState(); gvf_low_level_getState();
float course = gvf_state.course; float course __attribute__((unused)) = gvf_state.course;
float px_dot = gvf_state.px_dot; float px_dot = gvf_state.px_dot;
float py_dot = gvf_state.py_dot; float py_dot = gvf_state.py_dot;
@@ -176,8 +176,8 @@ void gvf_control_2D(float ke, float kn, float e,
float md_dot_const = -(md_x * pd_dot_dot_y - md_y * pd_dot_dot_x) float md_dot_const = -(md_x * pd_dot_dot_y - md_y * pd_dot_dot_x)
/ norm_pd_dot; / norm_pd_dot;
float md_dot_x = md_y * md_dot_const; float md_dot_x __attribute__((unused)) = md_y * md_dot_const;
float md_dot_y = -md_x * md_dot_const; float md_dot_y __attribute__((unused))= -md_x * md_dot_const;
#if defined(ROTORCRAFT_FIRMWARE) #if defined(ROTORCRAFT_FIRMWARE)
sw/airborne/modules/ins/ins_ext_pose.h
+1
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@@ -38,6 +38,7 @@ Section 5.3: Non-additive noise formulation and equations
#include "std.h" #include "std.h"
#include "math/pprz_algebra_float.h" #include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "state.h" #include "state.h"
#include <stdio.h> #include <stdio.h>
sw/airborne/modules/nav/ground_detect.c
+3 -1
View File
@@ -24,7 +24,6 @@
*/ */
#include "ground_detect.h" #include "ground_detect.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "filters/low_pass_filter.h" #include "filters/low_pass_filter.h"
#include "firmwares/rotorcraft/autopilot_firmware.h" #include "firmwares/rotorcraft/autopilot_firmware.h"
@@ -82,10 +81,13 @@ void ground_detect_periodic()
// Evaluate thrust given (less than hover thrust) // Evaluate thrust given (less than hover thrust)
// Use the control effectiveness in thrust in order to estimate the thrust delivered (only works for multicopters) // Use the control effectiveness in thrust in order to estimate the thrust delivered (only works for multicopters)
float specific_thrust = 0.0; // m/s2 float specific_thrust = 0.0; // m/s2
#if USE_GROUND_DETECT_INDI_THRUST
uint8_t i; uint8_t i;
for (i = 0; i < INDI_NUM_ACT; i++) { for (i = 0; i < INDI_NUM_ACT; i++) {
specific_thrust += actuator_state_filt_vect[i] * g1g2[3][i] * -((int32_t) act_is_servo[i] - 1); specific_thrust += actuator_state_filt_vect[i] * g1g2[3][i] * -((int32_t) act_is_servo[i] - 1);
} }
#endif
// vertical component // vertical component
float spec_thrust_down; float spec_thrust_down;