mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Add PyBullet FDM for nps. (#3024)
This commit is contained in:
Fabien-B
GitHub
@@ -10,28 +10,6 @@
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settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_attitude_fw.xml"
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gui_color="blue"
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/>
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<aircraft
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name="ARD2_101"
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ac_id="101"
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airframe="airframes/ENAC/quadrotor/ard2_basic.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic_safety.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_float_invariant.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
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gui_color="red"
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/>
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<aircraft
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name="ARD2_103"
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ac_id="103"
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airframe="airframes/ENAC/quadrotor/ard2_basic_adhoc.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic_safety.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
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gui_color="yellow"
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/>
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<aircraft
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name="CHIMERA"
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ac_id="23"
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@@ -73,7 +51,7 @@
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telemetry="telemetry/default_fixedwing_imu.xml"
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flight_plan="flight_plans/basic.xml"
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settings="settings/fixedwing_basic.xml [settings/nps.xml]"
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settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/gps.xml [modules/gps_ubx_ucenter.xml] modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_adaptive_fw.xml"
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settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/gps.xml modules/gps_ublox.xml [modules/gps_ubx_ucenter.xml] modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_adaptive_fw.xml"
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gui_color="#ffff7d7d0000"
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/>
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<aircraft
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@@ -131,4 +109,37 @@
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settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
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gui_color="blue"
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/>
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<aircraft
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name="RoBoBee"
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ac_id="2"
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airframe="airframes/ENAC/quadrotor/robobee.xml"
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radio="radios/FrSky_X-Lite.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/tag_tracking.xml"
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gui_color="#3ce8d771db45"
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/>
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<aircraft
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name="ANTON"
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ac_id="217"
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airframe="airframes/ENAC/quadrotor/anton_indi_aruco.xml"
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radio="radios/FrSky_X-Lite.xml"
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telemetry="telemetry/rotorcraft_imav2022.xml"
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flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/filter_1euro_imu.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
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gui_color="#fdd12f992f99"
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/>
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<aircraft
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name="ULYSSE"
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ac_id="218"
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airframe="airframes/ENAC/quadrotor/ulysse_indi.xml"
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radio="radios/FrSky_X-Lite.xml"
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telemetry="telemetry/rotorcraft_imav2022.xml"
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flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
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gui_color="#c6d33e3ef958"
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/>
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</conf>
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@@ -0,0 +1,272 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Quadricopter ANTON Tawaki">
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<description>
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* Autopilot: Tawaki
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* Actuators: 4 in 4 Holybro BLHELI ESC
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* Telemetry: XBee
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* GPS: ublox
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* RC: FrSky XM+
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</description>
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<firmware name="rotorcraft">
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<configure name="PERIODIC_FREQUENCY" value="1000"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
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<target name="ap" board="tawaki_1.0">
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<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
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<module name="radio_control" type="sbus"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
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<define name="LOW_NOISE_TIME" value="10"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<module name="telemetry" type="xbee_api"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="dshot">
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<!--define name="DSHOT_SPEED" value="300"/-->
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</module>
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<module name="board" type="tawaki">
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<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
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<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
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<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
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<!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
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<configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
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</module>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
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</module>
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<module name="stabilization" type="indi"/>
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<module name="guidance" type="indi">
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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</module>
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<module name="ins"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="air_data"/>
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<module name="actuators" type="pwm"/>
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<module name="switch" type="servo"/>
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<module name="filter" type="1euro_imu">
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<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
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<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
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</module>
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<!--module name="sonar_adc">
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<configure name="ADC_SONAR" value="ADC_1"/>
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<define name="USE_SONAR"/>
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</module>
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<module name="agl_dist"/-->
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<module name="tag_tracking">
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<configure name="JEVOIS_UART" value="UART3" description="UART on which Jevois camera is connected"/>
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</module>
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<module name="flight_recorder"/>
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<!--module name="logger" type="tune_indi"/-->
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</firmware>
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<servos driver="DShot">
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<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
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<servo name="BR" no="4" min="0" neutral="100" max="2000"/>
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<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
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<servo name="FL" no="1" min="0" neutral="100" max="2000"/>
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</servos>
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<servos driver="Pwm">
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<servo name="SWITCH" no="1" min="1000" neutral="1000" max="2000"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" 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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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TYPE" value="QUAD_X"/>
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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</section>
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<command_laws>
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<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
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<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
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<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
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<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="-1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="-1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="-90"/>
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<define name="ACCEL_Y_NEUTRAL" value="40"/>
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<define name="ACCEL_Z_NEUTRAL" value="12"/>
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<define name="ACCEL_X_SENS" value="2.321864827044042" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.450207588413862" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.4560049628471914" 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_X_NEUTRAL" value="-3868"/>
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<define name="MAG_Y_NEUTRAL" value="2013"/>
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<define name="MAG_Z_NEUTRAL" value="-101"/>
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<define name="MAG_X_SENS" value="0.6497766229092939" integer="16"/>
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<define name="MAG_Y_SENS" value="0.6352026516080006" integer="16"/>
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<define name="MAG_Z_SENS" value="0.6627284899394246" integer="16"/>
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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="-45." unit="deg"/>
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</section>
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<section name="MAG">
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<define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="LIS3MDL_MAG_TO_IMU_PSI" value="90." unit="deg"/>
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</section>
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<include href="conf/mag/delft_valkenburg.xml"/>
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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="60." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="101"/>
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<define name="REF_ERR_Q" value="101"/>
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<define name="REF_ERR_R" value="124"/>
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<define name="REF_RATE_P" value="12.6"/>
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<define name="REF_RATE_Q" value="14.0"/>
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<define name="REF_RATE_R" value="14.0"/>
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<define name="MAX_R" value="60" unit="deg/s"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="4.0"/>
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<define name="FILT_CUTOFF_R" value="4.0"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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<!-- Full INDI -->
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<!-- control effectiveness -->
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<define name="G1_ROLL" value="{-40 , -40, 40 , 40 }"/>
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<define name="G1_PITCH" value="{40 , -40, -40 , 40 }"/>
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<define name="G1_YAW" value="{5, -5, 5, -5}"/>
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<define name="G1_THRUST" value="{-1.5, -1.5, -1.5, -1.5}"/>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
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<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1."/>
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<define name="HOVER_KP" value="87"/>
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<define name="HOVER_KD" value="120"/>
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<define name="HOVER_KI" value="11"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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<define name="ADAPT_NOISE_FACTOR" value="1."/>
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<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.25"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="PGAIN" value="40"/>
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<define name="DGAIN" value="108"/>
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<define name="IGAIN" value="20"/>
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<define name="NGAIN" value="0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="0"/>
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<define name="REF_MAX_SPEED" value="2.5"/>
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<define name="REF_MAX_ACCEL" value="2.5"/>
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</section>
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<section name="NAV">
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<define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
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<define name="NAV_CLIMB_VSPEED" value="1.0"/>
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<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
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<define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
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</section>
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<section name="BAT">
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<define name="CRITIC_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_STARTUP" value="AP_MODE_NAV"/>
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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_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="SONAR">
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<!--define name="SENSOR_SYNC_SEND_SONAR"/-->
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<define name="SONAR_SCALE" value="0.0025"/> <!-- Vcc/1024 per cm => (3.3/2^12)*(0.01/(3.3/2^10) = 0.01*2^10/2^12 -->
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</section>
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<section name="AGL" prefix="AGL_DIST_SONAR_">
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<define name="ID" value="ABI_BROADCAST"/>
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<define name="MAX_RANGE" value="6." unit="m"/>
|
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<define name="MIN_RANGE" value="0.01" unit="m"/>
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<define name="FILTER" value="0.15"/> <!--Low pass filter time constant-->
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</section>
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<section name="TAG_TRACKING" prefix="TAG_TRACKING_">
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<define name="BODY_TO_CAM_PSI" value="0"/>
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<define name="CAM_POS_Y" value="-0.12"/>
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</section>
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|
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-0.5"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
|
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<define name="NO_MOTOR_MIXING" value="TRUE"/>
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</section>
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</airframe>
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||||
@@ -0,0 +1,277 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="Robo_Bee_3">
|
||||
|
||||
<description>
|
||||
* Autopilot: Tawaki
|
||||
* Actuators: 4 in 1
|
||||
* Telemetry: XBee
|
||||
* GPS: datalink
|
||||
* RC: SBUS
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<configure name="PERIODIC_FREQUENCY" value="512"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
|
||||
|
||||
<target name="ap" board="tawaki_1.1">
|
||||
<module name="radio_control" type="sbus"/>
|
||||
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<!--module name="fdm" type="jsbsim"/-->
|
||||
<module name="fdm" type="pybullet">
|
||||
<define name="PYBULLET_GUI" value="TRUE"/>
|
||||
<define name="NPS_BYPASS_AHRS" value="TRUE"/>
|
||||
<define name="NPS_BYPASS_INS" value="TRUE"/>
|
||||
</module>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
</target>
|
||||
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
|
||||
<module name="actuators" type="dshot">
|
||||
<!--define name="DSHOT_SPEED" value="300"/-->
|
||||
</module>
|
||||
<module name="board" type="tawaki">
|
||||
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
|
||||
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
|
||||
<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
|
||||
</module>
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B115200"/>
|
||||
</module>
|
||||
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
|
||||
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
|
||||
</module>
|
||||
|
||||
<module name="ins"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<!-- <define name="AHRS_USE_GPS_HEADING" value="FALSE"/> -->
|
||||
</module>
|
||||
<module name="air_data"/>
|
||||
|
||||
<module name="filter" type="1euro_imu">
|
||||
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
|
||||
</module>
|
||||
|
||||
<module name="tag_tracking">
|
||||
<configure name="JEVOIS_UART" value="UART4" description="dummy uart in this config"/>
|
||||
</module>
|
||||
<module name="extra_dl">
|
||||
<configure name="EXTRA_DL_PORT" value="UART3"/>
|
||||
<configure name="EXTRA_DL_BAUD" value="B115200"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
|
||||
<module name="flight_recorder"/>
|
||||
<!--module name="logger" type="tune_indi"/-->
|
||||
</firmware>
|
||||
|
||||
<servos driver="DShot">
|
||||
<servo name="FR" no="1" min="0" neutral="100" max="2000"/>
|
||||
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
|
||||
<servo name="BL" no="3" min="0" neutral="100" max="2000"/>
|
||||
<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
|
||||
</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"/>
|
||||
</commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
<define name="REVERSE" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<!--command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
</command_laws-->
|
||||
<command_laws>
|
||||
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
|
||||
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
|
||||
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
|
||||
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
|
||||
</command_laws>
|
||||
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<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_SIGN" value="-1"/>
|
||||
<define name="ACCEL_Y_SIGN" value="-1"/>
|
||||
<define name="ACCEL_Z_SIGN" value="1"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-52"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="63"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="78"/>
|
||||
<define name="ACCEL_X_SENS" value="2.5604087853414104" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.448144955015108" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.4642689651242438" integer="16"/>
|
||||
|
||||
<define name="MAG_X_SIGN" value="-1"/>
|
||||
<define name="MAG_Y_SIGN" value="-1"/>
|
||||
<define name="MAG_Z_SIGN" value="1"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-3389"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-9655"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="1277"/>
|
||||
<define name="MAG_X_SENS" value="0.725111506132357" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="0.7213630968776462" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="0.6528914510154457" 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="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<include href="conf/mag/delft_valkenburg.xml"/>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="INV_NXZ" value="0.25"/>
|
||||
<define name="INV_NH" value="2.0"/>
|
||||
<define name="INV_MVZ" value="8."/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Use GPS heading instead of magneto -->
|
||||
<define name="USE_GPS_HEADING" value="0"/>
|
||||
<!-- <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/> -->
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" 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="120" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<define name="NUM_ACT" value="4"/>
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="111"/>
|
||||
<define name="REF_ERR_Q" value="111"/>
|
||||
<define name="REF_ERR_R" value="136"/>
|
||||
<define name="REF_RATE_P" value="20.0"/>
|
||||
<define name="REF_RATE_Q" value="20.0"/>
|
||||
<define name="REF_RATE_R" value="11.0"/>
|
||||
|
||||
<define name="MAX_R" value="120" unit="deg/s"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="4.0"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
|
||||
|
||||
<!-- Full INDI -->
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_ROLL" value="{ -20.0, -20.0, 20.0, 20.0 }"/>
|
||||
<define name="G1_PITCH" value="{ 20.0, -20.0, -20.0, 20.0 }"/>
|
||||
<define name="G1_YAW" value="{ 3, -3, 3, -3 }"/>
|
||||
<define name="G1_THRUST" value="{ -0.5, -0.5, -0.5, -0.5}"/>
|
||||
<!--Counter torque effect of spinning up a rotor-->
|
||||
<define name="G2" value="{100, -100, 100, -100.0 }"/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN" value="{0.02, 0.02, 0.02, 0.02}"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
|
||||
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
|
||||
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1."/>
|
||||
<define name="HOVER_KP" value="90"/>
|
||||
<define name="HOVER_KD" value="110"/>
|
||||
<define name="HOVER_KI" value="10"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
<define name="ADAPT_NOISE_FACTOR" value="1."/>
|
||||
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="41"/>
|
||||
<define name="DGAIN" value="108"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
<define name="NGAIN" value="0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="0"/>
|
||||
<define name="REF_MAX_SPEED" value="4."/>
|
||||
<define name="REF_MAX_ACCEL" value="2."/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
|
||||
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
|
||||
<define name="NAV_CLIMB_VSPEED" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="TAG_TRACKING" prefix="TAG_TRACKING_">
|
||||
<define name="BODY_TO_CAM_PSI" value="M_PI"/>
|
||||
<define name="CAM_POS_X" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="1"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-1"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATORS_ORDER" value="{3, 2, 1, 0}"/>
|
||||
<define name="PYBULLET_MODULE" value="simple_quad_sim" type="string"/>
|
||||
<define name="PYBULLET_URDF" value="robobee.urdf" type="string"/>
|
||||
<!--define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/-->
|
||||
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<define name="NO_MOTOR_MIXING" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,261 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="Quadricopter ULYSSE Tawaki">
|
||||
|
||||
<description>
|
||||
* Autopilot: Tawaki
|
||||
* Actuators: 4 in 4 Holybro BLHELI ESC
|
||||
* Telemetry: XBee
|
||||
* GPS: ublox
|
||||
* RC: FrSky XM+
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<!--configure name="RTOS_DEBUG" value="TRUE"/-->
|
||||
<configure name="PERIODIC_FREQUENCY" value="1000"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
|
||||
|
||||
<target name="ap" board="tawaki_1.0">
|
||||
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
|
||||
<module name="radio_control" type="sbus"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
|
||||
<module name="actuators" type="dshot">
|
||||
<!--define name="DSHOT_SPEED" value="300"/-->
|
||||
</module>
|
||||
|
||||
<module name="board" type="tawaki">
|
||||
<!--define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/-->
|
||||
<!--define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/-->
|
||||
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_98HZ"/>
|
||||
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_99HZ"/>
|
||||
<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
|
||||
<!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
|
||||
<configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
|
||||
</module>
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B115200"/>
|
||||
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
|
||||
</module>
|
||||
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
|
||||
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
|
||||
</module>
|
||||
|
||||
<module name="ins"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="air_data"/>
|
||||
|
||||
<module name="actuators" type="pwm"/>
|
||||
<module name="switch" type="servo"/>
|
||||
|
||||
<!--module name="filter" type="1euro_imu">
|
||||
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
|
||||
</module-->
|
||||
|
||||
<module name="tag_tracking">
|
||||
<configure name="JEVOIS_UART" value="UART3" description="UART on which Jevois camera is connected"/>
|
||||
</module>
|
||||
|
||||
<module name="flight_recorder"/>
|
||||
<!--module name="logger" type="tune_indi"/-->
|
||||
</firmware>
|
||||
|
||||
<servos driver="DShot">
|
||||
<servo name="FR" no="4" min="0" neutral="100" max="2000"/>
|
||||
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
|
||||
<servo name="BL" no="1" min="0" neutral="100" max="2000"/>
|
||||
<servo name="FL" no="3" min="0" neutral="100" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="SWITCH" no="4" min="1000" neutral="1000" max="2000"/>
|
||||
</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"/>
|
||||
</commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
|
||||
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
|
||||
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
|
||||
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<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_SIGN" value="1"/>
|
||||
<define name="ACCEL_Y_SIGN" value="1"/>
|
||||
<define name="ACCEL_Z_SIGN" value="1"/>
|
||||
<define name="ACCEL_X_NEUTRAL" value="-27"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="75"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-109"/>
|
||||
<define name="ACCEL_X_SENS" value="2.27584739975" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.45270163528" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.44302118661" integer="16"/>
|
||||
|
||||
<define name="MAG_X_SIGN" value="1"/>
|
||||
<define name="MAG_Y_SIGN" value="1"/>
|
||||
<define name="MAG_Z_SIGN" value="1"/>
|
||||
<define name="MAG_X_NEUTRAL" value="-525"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="3252"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="1029"/>
|
||||
<define name="MAG_X_SENS" value="0.6621839327083922" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="0.635352946158572" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="0.6546061419369537" 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="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="MAG">
|
||||
<define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="LIS3MDL_MAG_TO_IMU_PSI" value="135." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<include href="conf/mag/delft_valkenburg.xml"/>
|
||||
|
||||
<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="60." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="101"/>
|
||||
<define name="REF_ERR_Q" value="101"/>
|
||||
<define name="REF_ERR_R" value="124"/>
|
||||
<define name="REF_RATE_P" value="18.0"/>
|
||||
<define name="REF_RATE_Q" value="18.0"/>
|
||||
<define name="REF_RATE_R" value="14.0"/>
|
||||
|
||||
<define name="MAX_R" value="60" unit="deg/s"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="4.0"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
|
||||
|
||||
<!-- Full INDI -->
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_ROLL" value="{-40 , -40, 40 , 40 }"/>
|
||||
<define name="G1_PITCH" value="{40 , -40, -40 , 40 }"/>
|
||||
<define name="G1_YAW" value="{5, -5, 5, -5}"/>
|
||||
<define name="G1_THRUST" value="{-1.5, -1.5, -1.5, -1.5}"/>
|
||||
<!--Counter torque effect of spinning up a rotor-->
|
||||
<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
|
||||
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
|
||||
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1."/>
|
||||
<define name="HOVER_KP" value="48"/>
|
||||
<define name="HOVER_KD" value="46"/>
|
||||
<define name="HOVER_KI" value="11"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.48"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
<define name="ADAPT_NOISE_FACTOR" value="1."/>
|
||||
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.4"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="41"/>
|
||||
<define name="DGAIN" value="108"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
<define name="NGAIN" value="0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="0"/>
|
||||
<define name="REF_MAX_SPEED" value="2.5"/>
|
||||
<define name="REF_MAX_ACCEL" value="2.5"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
|
||||
<define name="NAV_CLIMB_VSPEED" value="1.0"/>
|
||||
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
|
||||
<define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="AGL" prefix="AGL_DIST_SONAR_">
|
||||
<define name="ID" value="ABI_BROADCAST"/>
|
||||
<define name="MAX_RANGE" value="6." unit="m"/>
|
||||
<define name="MIN_RANGE" value="0.01" unit="m"/>
|
||||
<define name="FILTER" value="0.15"/> <!--Low pass filter time constant-->
|
||||
</section>
|
||||
|
||||
<section name="TAG_TRACKING" prefix="TAG_TRACKING_">
|
||||
<define name="BODY_TO_CAM_PSI" value="180."/>
|
||||
<define name="CAM_POS_Y" value="0.12"/>
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="1"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<define name="NO_MOTOR_MIXING" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
|
||||
Reference in New Issue
Block a user