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Updated esden's lisa/l asctec frame quad airframe definition.

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This commit is contained in:
Piotr Esden-Tempski
2011-01-18 19:32:22 -08:00
parent 60d7560a42
commit 2d215c1929
1 changed files with 113 additions and 80 deletions
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conf/airframes/esden/lisa_asctec.xml
+113 -80
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@@ -16,6 +16,12 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
@@ -32,42 +38,46 @@
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32685"/>
<define name="GYRO_Q_NEUTRAL" value="33261"/>
<define name="GYRO_R_NEUTRAL" value="32707"/>
<define name="GYRO_P_SENS" value="1.096691894" integer="16"/>
<define name="GYRO_Q_SENS" value="1.066804199" integer="16"/>
<define name="GYRO_R_SENS" value="1.117463379" integer="16"/>
<define name="ACCEL_X_SENS" value="2.58358915626" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.58164052066" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.59655739465" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32731"/>
<define name="ACCEL_Y_NEUTRAL" value="32101"/>
<define name="ACCEL_Z_NEUTRAL" value="32660"/>
<define name="MAG_X_SENS" value="5.32718104135" integer="16"/>
<define name="MAG_Y_SENS" value="4.87857821202" integer="16"/>
<define name="MAG_Z_SENS" value="3.11986612709" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-43"/>
<define name="MAG_Y_NEUTRAL" value=" 49"/>
<define name="MAG_Z_NEUTRAL" value="-66"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
<define name="GYRO_P_NEUTRAL" value="32276"/>
<define name="GYRO_Q_NEUTRAL" value="33987"/>
<define name="GYRO_R_NEUTRAL" value="32801"/>
<define name="GYRO_P_SENS" value="0.92466" integer="16"/>
<define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
<define name="GYRO_R_SENS" value="0.92943" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="25875"/>
<define name="ACCEL_Y_NEUTRAL" value="26273"/>
<define name="ACCEL_Z_NEUTRAL" value="26152"/>
<define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
<define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
<define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1." integer="16"/>
<define name="MAG_Y_SENS" value="1." integer="16"/>
<define name="MAG_Z_SENS" value="1." integer="16"/>
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45. )"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
@@ -114,27 +124,27 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-400"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -164,49 +174,72 @@
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<makefile>
<!-- -->
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
<!-- -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
USER = root
HOST = 192.168.1.3
#HOST = overo
#HOST = beth
#HOST = asctec_lisa
TARGET_DIR = ~
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_l_1.1"/>
<target name="test_uart" board="lisa_l_1.1"/>
<target name="test_servos" board="lisa_l_1.1"/>
<target name="test_telemetry" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
<target name="test_imu_b2" board="lisa_l_1.1"/>
<target name="test_imu_b2_2" board="lisa_l_1.1"/>
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
<target name="test_rc_ppm" board="lisa_l_1.1"/>
<target name="test_adc" board="lisa_l_1.1"/>
<target name="test_hmc5843" board="lisa_l_1.1"/>
<target name="test_itg3200" board="lisa_l_1.1"/>
<target name="test_adxl345" board="lisa_l_1.1"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
<target name="test_actuators_mkk" board="lisa_l_1.1"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
</firmware>
SRC_FMS=fms
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.1" >
<param name="HOST" value="A7"/>
<param name="USER" value=""/>
<param name="TARGET_DIR" value="~"/>
<param name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</target>
</firmware>
ARCH=stm32
BOARD_CFG=\"boards/lisa_0.99.h\"
FLASH_MODE = JTAG
ap.CFLAGS += -DMODEM_BAUD=B57600
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se_joby.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec_v2.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
CONFIG_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
SERVOS_REFRESH_FREQ=200
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_joby.h\"
include $(CONFIG_PASSTHROUGH)/radio_control_joby.makefile
</makefile>
</airframe>