mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-10-02 12:23:17 +08:00
[xml] Airframe updates after testflights (#3218)
This commit is contained in:
Christophe De Wagter
@@ -35,6 +35,9 @@
|
||||
<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"/>
|
||||
|
||||
<!-- Disable current sensing using UAVCAN -->
|
||||
<define name="UAVCAN_ACTUATORS_USE_CURRENT" value="FALSE"/>
|
||||
<define name="USE_I2C1"/>
|
||||
@@ -160,7 +163,7 @@
|
||||
<servo no="4" name="BMOTOR_PUSH" min="-8191" neutral="-8191" max="8191"/>
|
||||
<servo no="5" name="BSERVO_ELEVATOR" min="-8191" neutral="-8191" max="4900"/>
|
||||
<servo no="6" name="BSERVO_RUDDER" min="-6500" neutral="0" max="6500"/>
|
||||
<servo no="7" name="BROTATION_MECH" min="-8191" neutral="0" max="8191"/>
|
||||
<servo no="7" name="BROTATION_MECH" min="8191" neutral="0" max="-8191"/>
|
||||
<servo no="8" name="BAIL_RIGHT" min="-8000" neutral="-1000" max="5000"/>
|
||||
<servo no="9" name="BFLAP_RIGHT" min="-8000" neutral="-1000" max="5000"/>
|
||||
<servo no="10" name="BAIL_LEFT" min="-5000" neutral="1000" max="8000"/>
|
||||
@@ -262,6 +265,7 @@
|
||||
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 21.314 * adc)"/> <!-- ADC calibration -->
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((3.3f/65536.0f) * 50000.f * adc)"/> <!-- Has like a -2A offset -->
|
||||
<define name="MilliAmpereOfAdc2(adc)" value="((3.3f/65536.0f) * 50000.f * adc)"/> <!-- Seems te be ok -->
|
||||
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
|
||||
<define name="ADC_CHANNEL_CURRENT2" value="ADC_4"/>
|
||||
|
||||
<!-- Others -->
|
||||
@@ -346,12 +350,6 @@
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- G1 and G2 20.17 kg-->
|
||||
<!-- <define name="G1_ROLL" value="{ 0.0, -8.5, 0.0, 8.5, 0.0, 0.0}"/>
|
||||
<define name="G1_PITCH" value="{ 0.75, 0.0, -0.75, 0.0, 0.0, 0.0}"/>
|
||||
<define name="G1_YAW" value="{ -0.25, 0.25, -0.25, 0.25, 0.0, 0.0}"/>
|
||||
<define name="G1_THRUST" value="{-0.575, -0.575, -0.575, -0.575, 0.0, 0.0}"/>
|
||||
<define name="G2" value="{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/> -->
|
||||
|
||||
<!-- G1 and G2 25 kg-->
|
||||
<define name="G1_ROLL" value="{ 0.0, -9.0, 0.0, 9.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
@@ -375,10 +373,10 @@
|
||||
|
||||
<!-- Reference -->
|
||||
<define name="REF_ERR_P" value="40.0"/>
|
||||
<define name="REF_ERR_Q" value="32.0"/>
|
||||
<define name="REF_ERR_Q" value="25.0"/>
|
||||
<define name="REF_ERR_R" value="23.0"/>
|
||||
<define name="REF_RATE_P" value="5.5"/>
|
||||
<define name="REF_RATE_Q" value="5.5"/>
|
||||
<define name="REF_RATE_Q" value="4.5"/>
|
||||
<define name="REF_RATE_R" value="3.9"/>
|
||||
|
||||
<define name="MAX_R" value="30.0" unit="deg/s"/>
|
||||
|
||||
@@ -31,6 +31,10 @@
|
||||
<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE1_ID"/>
|
||||
<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_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"/>
|
||||
|
||||
<module name="lidar_tfmini">
|
||||
<configure name="TFMINI_PORT" value="UART8"/>
|
||||
<configure name="USE_TFMINI_AGL" value="TRUE"/>
|
||||
@@ -45,6 +49,7 @@
|
||||
<!-- 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">
|
||||
@@ -74,13 +79,13 @@
|
||||
<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="0"/>
|
||||
<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="1" /> <!-- Read Airspeed for logging but do not use it -->
|
||||
<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="ublox">
|
||||
@@ -126,6 +131,7 @@
|
||||
<module name="ground_detect_sensor"/>
|
||||
<module name="rotwing_state"/>
|
||||
<module name="preflight_checks"/>
|
||||
<module name="pfc_actuators"/>
|
||||
<module name="agl_dist"/>
|
||||
<module name="approach_moving_target"/>
|
||||
|
||||
@@ -222,37 +228,52 @@
|
||||
</servos>
|
||||
|
||||
<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"/>
|
||||
<axis name="THRUST_X" failsafe_value="0"/>
|
||||
<!-- commands from INDI -->
|
||||
<axis name="FRONT_MOTOR" failsafe_value="0"/>
|
||||
<axis name="RIGHT_MOTOR" failsafe_value="0"/>
|
||||
<axis name="BACK_MOTOR" failsafe_value="0"/>
|
||||
<axis name="LEFT_MOTOR" failsafe_value="0"/>
|
||||
<axis name="RUDDER" failsafe_value="0"/>
|
||||
<axis name="ELEVATOR" failsafe_value="0"/>
|
||||
<axis name="AILERON" failsafe_value="0"/>
|
||||
<axis name="FLAP" failsafe_value="0"/>
|
||||
<axis name="THRUST_X" failsafe_value="0"/>
|
||||
<!-- commands modules -->
|
||||
<axis name="SKEW" failsafe_value="0"/>
|
||||
<!-- default commands -->
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" 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)"/>
|
||||
<let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
|
||||
<let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
|
||||
<let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
|
||||
|
||||
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : actuators_pprz[4])" SERVO="SERVO_RUDDER"/>
|
||||
<set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
|
||||
<set VALUE="($th_hold? -9600 : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
|
||||
<set VALUE="rotwing_state_skewing.servo_pprz_cmd" SERVO="ROTATION_MECH"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
|
||||
<call fun="pfc_actuators_run()"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
|
||||
<set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : pfc_actuators_value(1, actuators_pprz[4]))" SERVO="SERVO_RUDDER"/>
|
||||
<set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? pfc_actuators_value(0, 0) : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
|
||||
<set VALUE="($th_hold? ($servo_hold? -9600 : pfc_actuators_value(11, -9600)) : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
|
||||
<set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)" SERVO="ROTATION_MECH"/>
|
||||
<set VALUE="$ail_limit_hit? pfc_actuators_value(2, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
|
||||
<set VALUE="$ail_limit_hit? pfc_actuators_value(5, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
|
||||
<set VALUE="$flap_limit_hit? pfc_actuators_value(3, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
|
||||
<set VALUE="$flap_limit_hit? pfc_actuators_value(4, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
|
||||
|
||||
<!-- Backup commands -->
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
|
||||
<set VALUE="($hover_off? -9600 : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
|
||||
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
|
||||
</command_laws>
|
||||
|
||||
<section PREFIX="SYS_ID_" NAME="SYS_ID">
|
||||
@@ -290,7 +311,7 @@
|
||||
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
|
||||
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
|
||||
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
|
||||
|
||||
|
||||
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
|
||||
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
|
||||
<define name="K_LIFT_TAIL" value="-0.101691751"/>
|
||||
@@ -299,6 +320,10 @@
|
||||
<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)"/>
|
||||
|
||||
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
|
||||
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
|
||||
|
||||
<!-- Others -->
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
|
||||
@@ -38,13 +38,10 @@
|
||||
<!-- Range sensor connected to supercan -->
|
||||
<module name="range_sensor_uavcan"/>
|
||||
|
||||
<!-- <module name="mavlink">
|
||||
<configure name="MAVLINK_BAUD" value="B115200"/>
|
||||
<configure name="MAVLINK_PORT" value="UART8"/>
|
||||
</module> -->
|
||||
|
||||
<!-- 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">
|
||||
@@ -206,11 +203,11 @@
|
||||
|
||||
<!-- Can bus 2 actuators -->
|
||||
<servos driver="Uavcan2">
|
||||
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="5" name="BROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
|
||||
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
|
||||
<servo no="5" name="BROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
|
||||
</servos>
|
||||
|
||||
<!-- CAN BUS 2 command outputs-->
|
||||
@@ -245,7 +242,7 @@
|
||||
<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)"/>
|
||||
<let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
|
||||
<let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
|
||||
<let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
|
||||
<let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
|
||||
|
||||
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
|
||||
@@ -347,7 +344,6 @@
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-24,-9,18}, .scale={{22586,14285,60640},{2303,1461,6213}}, .filter_sample_freq=1139, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-4,-4,49}, .scale={{49201,22321,17833},{10030,4553,3632}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-48,-11,2}, .scale={{37211,48711,18769},{7594,9938,3845}}}}"/>
|
||||
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1518,-1489,512}, .scale={{1124,9185,21218},{1879,15118,36859}}, .body_to_sensor={{16384,0,0,0,16384,0,0,0,-16384}}}}"/>
|
||||
|
||||
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1139, .filter_freq=30}}"/>
|
||||
|
||||
<!-- Define axis in hover frame -->
|
||||
@@ -408,12 +404,12 @@
|
||||
<define name="G2" value="{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
|
||||
<!-- Actuator dynamics -->
|
||||
<define name="ACT_FREQ" value="{20.0, 20.0, 20.0, 20.0, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
|
||||
<define name="ACT_FREQ" value="{10.1, 10.1, 10.1, 10.1, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
|
||||
<define name="ACT_IS_SERVO" value="{ 0, 0, 0, 0, 1, 1, 1, 1, 0}"/>
|
||||
<define name="ACT_IS_THRUSTER_X" value="{ 0, 0, 0, 0, 0, 0, 0, 0, 1}"/>
|
||||
|
||||
<!-- Reference -->
|
||||
<define name="REF_ERR_P" value="38.0"/>
|
||||
<define name="REF_ERR_P" value="30.0"/>
|
||||
<define name="REF_ERR_Q" value="32.0"/>
|
||||
<define name="REF_ERR_R" value="23.0"/>
|
||||
<define name="REF_RATE_P" value="5.0"/>
|
||||
@@ -496,7 +492,7 @@
|
||||
</section>
|
||||
|
||||
<section name="FORWARD">
|
||||
<define name="TURN_AIRSPEED_TH" value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TURN_AIRSPEED_TH" value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TRANSITION_MAX_OFFSET" value="0.0" unit="deg"/>
|
||||
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,23 +1,23 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="70" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1070" name="Rotating wing Valkenburg" security_height="2">
|
||||
<flight_plan alt="70" ground_alt="0" lat0="52.1681551" lon0="4.4126468" max_dist_from_home="1070" name="Rotating Wing Valkenburg" security_height="2">
|
||||
<header/>
|
||||
<waypoints>
|
||||
<waypoint name="HOME" x="12.6" y="-48.7"/>
|
||||
<waypoint name="CLIMB" x="62.6" y="-80.4"/>
|
||||
<waypoint name="trans" x="100." y="100."/>
|
||||
<waypoint name="decel" x="100." y="100."/>
|
||||
<waypoint name="end_trans" x="100." y="100."/>
|
||||
<waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
|
||||
<waypoint name="begin_trans" lat="52.168412" lon="4.4149282"/>
|
||||
<waypoint name="p1" lat="52.1672408" lon="4.4144528"/>
|
||||
<waypoint name="p2" lat="52.1682897" lon="4.4138441"/>
|
||||
<waypoint name="p3" lat="52.1687878" lon="4.4155648"/>
|
||||
<waypoint name="p4" lat="52.1678559" lon="4.4164701"/>
|
||||
<waypoint name="circ" lat="52.1684116" lon="4.4149282"/>
|
||||
<waypoint name="TD" lat="52.1681602" lon="4.4127708"/>
|
||||
<waypoint name="APP" lat="52.1679567" lon="4.4136344"/>
|
||||
<waypoint name="FOLLOW" lat="52.16850964562752" lon="4.413635008734417"/>
|
||||
<waypoint name="HOME" x="0" y="0"/>
|
||||
<waypoint name="CLIMB" x="300." y="70"/>
|
||||
<waypoint name="trans" x="300." y="100."/>
|
||||
<waypoint name="decel" x="300." y="110."/>
|
||||
<waypoint name="begin_trans" x="300." y="90."/>
|
||||
<waypoint name="end_trans" x="300." y="120."/>
|
||||
<waypoint name="STDBY" x="60" y="20"/>
|
||||
<waypoint name="p1" x="120" y="-75"/>
|
||||
<waypoint name="p2" x="65" y="75"/>
|
||||
<waypoint name="p3" x="200" y="120"/>
|
||||
<waypoint name="p4" x="250" y="-30"/>
|
||||
<waypoint name="circ" x="160" y="25"/>
|
||||
<waypoint name="TD" x="10" y="-1"/>
|
||||
<waypoint name="APP" x="70" y="-25"/>
|
||||
<waypoint name="FOLLOW" x="300" y="80"/>
|
||||
<!-- EHVB -->
|
||||
<waypoint lat="52.169189" lon="4.410820" name="C1"/>
|
||||
<waypoint lat="52.168049" lon="4.406923" name="C2"/>
|
||||
<waypoint lat="52.166515" lon="4.408235" name="C3"/>
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_optitrack.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -18,7 +18,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#ffffd633d633"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -260,7 +260,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.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/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#ffff00000000"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -282,7 +282,7 @@
|
||||
telemetry="telemetry/highspeed_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.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/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"
|
||||
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"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -572,14 +572,14 @@
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="RotatingWingV3b"
|
||||
ac_id="39"
|
||||
airframe="airframes/tudelft/rot_wing_v3b.xml"
|
||||
name="nav_hybrid_test"
|
||||
ac_id="31"
|
||||
airframe="airframes/tudelft/hybrid_nav_test.xml"
|
||||
radio="radios/crossfire_sbus.xml"
|
||||
telemetry="telemetry/highspeed_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.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/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/preflight_checks.xml modules/rot_wing_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"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings=""
|
||||
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.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_simple.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -594,25 +594,36 @@
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="nav_hybrid_test"
|
||||
ac_id="31"
|
||||
airframe="airframes/tudelft/hybrid_nav_test.xml"
|
||||
name="RotatingWingV3B"
|
||||
ac_id="39"
|
||||
airframe="airframes/tudelft/rot_wing_v3b.xml"
|
||||
radio="radios/crossfire_sbus.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings=""
|
||||
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.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_simple.xml"
|
||||
telemetry="telemetry/highspeed_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.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/ekf_aw.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/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/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_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"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="RotatingWingV3d"
|
||||
name="RotatingWingV3D"
|
||||
ac_id="23"
|
||||
airframe="airframes/tudelft/rot_wing_v3d.xml"
|
||||
radio="radios/crossfire_sbus.xml"
|
||||
telemetry="telemetry/highspeed_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.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/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_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/ekf_aw.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/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_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"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="RotatingWingV3E"
|
||||
ac_id="30"
|
||||
airframe="airframes/tudelft/rot_wing_v3e.xml"
|
||||
radio="radios/crossfire_sbus.xml"
|
||||
telemetry="telemetry/highspeed_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.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/ekf_aw.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/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_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"
|
||||
gui_color="red"
|
||||
/>
|
||||
</conf>
|
||||
|
||||
Reference in New Issue
Block a user