The Lisa/L b2_v1.2 rotorcraft airframe now builds.

2026-05-22 20:36:06 +08:00 · 2012-02-15 22:58:49 +11:00
parent 7955766aa4
commit 2ee70ab5b2
6 changed files with 361 additions and 73 deletions
@@ -265,6 +265,8 @@ ab_clean:
 #	$(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap
 #	$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim

+test_all_example_airframes2: test_all_example_airframes
+
 test_all_example_airframes:
 	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1;   done

@@ -1,4 +1,3 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!--
 This airframe is connected to the build server and is used for hardware testing.
 The hardware configuration is
@@ -1,4 +1,3 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!--
 This airframe is connected to the build server and is used for hardware testing.
 The hardware configuration is
@@ -1,4 +1,3 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!--
 This airframe is connected to the build server and is used for hardware testing.
 The hardware configuration is
@@ -1,4 +1,3 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!--
 This airframe is connected to the build server and is used for hardware testing.
 The hardware configuration is
@@ -9,17 +8,296 @@
 GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
 -->
 <airframe name="TestConfig">
+<!--
    <firmware name="rotorcraft">
        <target name="sim" 			board="pc"/>
        <target name="ap" 			board="lisa_l_1.1"/>
        
-        <subsystem name="radio_control" type="ppm"/>
-        <subsystem name="telemetry" 	type="xbee_api">
-            <configure name="MODEM_BAUD" value="B38400"/>
+        <subsystem name="radio_control"	type="ppm"/>
+        <subsystem name="telemetry"		type="xbee_api">
+            <configure name="MODEM_BAUD"	value="B38400"/>
        </subsystem>
        <subsystem name="control"/>
-        <subsystem name="gps" 		type="ublox"/>
+        <subsystem name="gps"			type="ublox"/>
+		<subsystem name="imu"			type="b2_v1.2"/>
+		<subsystem name="stabilization"	type="euler"/>
+		<subsystem name="ahrs"			type="int_cmpl_quat"/>
        <subsystem name="navigation"/>
    </firmware>
+-->
+	
+	<firmware name="rotorcraft">
+		<target name="ap" board="lisa_l_1.1">
+			<!--define name="NO_RC_THRUST_LIMIT"/--> 
+			<subsystem name="radio_control" type="spektrum"/>
+			<define name="RADIO_MODE" value="RADIO_AUX1"/>
+			<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+			<define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
+			<define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
+			<subsystem name="actuators"     type="mkk"/>
+			<subsystem name="telemetry"     type="transparent"/>
+		</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_v1.2"/>
+		<subsystem name="gps"           type="ublox">
+			<configure name="GPS_BAUD"    value="B57600"/>
+		</subsystem>
+		<subsystem name="stabilization"   type="euler"/>
+		<subsystem name="ahrs"            type="int_cmpl_quat"/>
+	</firmware>
+
+<!--
+	<firmware name="lisa_test_progs">
+		<target name="test_led"         board="lisa_l_1.1"/>
+		<target name="test_uart"        board="lisa_l_1.1"/>
+		<target name="test_servos"      board="lisa_l_1.1"/>
+		<target name="test_telemetry"   board="lisa_l_1.1"/>
+		<target name="test_baro"        board="lisa_l_1.1"/>
+		<target name="test_imu_b2"      board="lisa_l_1.1"/>
+		<target name="test_imu_b2_2"    board="lisa_l_1.1"/>
+		<target name="test_imu_aspirin" board="lisa_l_1.1"/>
+		<target name="test_rc_spektrum" board="lisa_l_1.1"/>
+		<target name="test_rc_ppm"      board="lisa_l_1.1"/>
+		<target name="test_adc"         board="lisa_l_1.1"/>
+		<target name="test_hmc5843"     board="lisa_l_1.1"/>
+		<target name="test_itg3200"     board="lisa_l_1.1"/>
+		<target name="test_adxl345"             board="lisa_l_1.1"/>
+		<target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
+		<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
+		<target name="test_actuators_mkk"       board="lisa_l_1.1"/>
+		<target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
+	</firmware>
+	
+	<firmware name="lisa_passthrough">
+		<target name="overo_test_passthrough" board="lisa_l_1.1"  >
+			<configure name="HOST"          value="A7"/>
+			<configure name="USER"          value=""/>
+			<configure name="TARGET_DIR"    value="~"/>
+			<configure 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_v1.2"/>
+		</target>
+	</firmware>
+-->
+	
+	<servos min="0" neutral="0" max="0xff">
+		<servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
+		<servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
+		<servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
+		<servo name="LEFT"    no="3" min="0" neutral="0" max="255"/>
+	</servos>
+	
+	<commands>
+		<axis name="PITCH"  failsafe_value="0"/>
+		<axis name="ROLL"   failsafe_value="0"/>
+		<axis name="YAW"    failsafe_value="0"/>
+		<axis name="THRUST" failsafe_value="0"/>
+	</commands>
+	
+	<!-- for the sim -->
+	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+		<define name="NB" value="4"/>
+		<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+	</section>
+	
+	
+	<section name="SUPERVISION" prefix="SUPERVISION_">
+		<define name="MIN_MOTOR" value="2"/>
+		<define name="MAX_MOTOR" value="210"/>
+		<define name="TRIM_A" value="0"/>
+		<define name="TRIM_E" value="0"/>
+		<define name="TRIM_R" value="0"/>
+		<define name="NB_MOTOR" value="4"/>
+		<define name="SCALE" value="256"/>
+		<define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
+		<define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+		<define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+		<define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+	</section>
+	
+	<section name="IMU" prefix="IMU_">
+		<define name="GYRO_P_NEUTRAL" value="32581"/>
+		<define name="GYRO_Q_NEUTRAL" value="32008"/>
+		<define name="GYRO_R_NEUTRAL" value="33207"/>
+		<define name="GYRO_P_SENS"    value=".903" integer="16"/>
+		<define name="GYRO_Q_SENS"    value=".905" integer="16"/>
+		<define name="GYRO_R_SENS"    value=".893" 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="25950"/>
+		<define name="ACCEL_Y_NEUTRAL" value="26351"/>
+		<define name="ACCEL_Z_NEUTRAL" value="25696"/>
+		<define name="ACCEL_X_SENS"    value="1.86342150011" integer="16"/>
+		<define name="ACCEL_Y_SENS"    value="1.88378993899" integer="16"/>
+		<define name="ACCEL_Z_SENS"    value="1.86557913201" 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="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="AUTOPILOT">
+		<define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+		<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+		<define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
+	</section>
+	
+	<section name="BAT">
+		<define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
+		<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+		<define name="CRITIC_BAT_LEVEL" value="13.0" unit="V" />
+		<define name="LOW_BAT_LEVEL" value="14.0" unit="V" />
+	</section>
+	
+	<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+		
+		<define name="SP_MAX_P" value="10000"/>
+		<define name="SP_MAX_Q" value="10000"/>
+		<define name="SP_MAX_R" value="10000"/>
+		
+		<define name="GAIN_P" value="-400"/>
+		<define name="GAIN_Q" value="-400"/>
+		<define name="GAIN_R" value="-350"/>
+		
+	</section>
+	
+	<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+		
+		<!-- setpoints -->
+		<define name="SP_MAX_PHI"     value="45." unit="deg"/>
+		<define name="SP_MAX_THETA"   value="45." unit="deg"/>
+		<define name="SP_MAX_R"       value="90." unit="deg/s"/>
+		<define name="DEADBAND_R"     value="250"/>
+		
+		<!-- reference -->
+		<define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
+		<define name="REF_ZETA_P"   value="0.9"/>
+		<define name="REF_MAX_P"    value="300." unit="deg/s"/>
+		<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+		
+		<define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
+		<define name="REF_ZETA_Q"   value="0.9"/>
+		<define name="REF_MAX_Q"    value="300." unit="deg/s"/>
+		<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+		
+		<define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
+		<define name="REF_ZETA_R"   value="0.9"/>
+		<define name="REF_MAX_R"    value="180." unit="deg/s"/>
+		<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+		
+		<!-- 
+		 <define name="PHI_PGAIN"  value="-2000"/>
+		 <define name="PHI_DGAIN"  value="-400"/>
+		 <define name="PHI_IGAIN"  value="-200"/>
+		 
+		 <define name="THETA_PGAIN"  value="-2000"/>
+		 <define name="THETA_DGAIN"  value="-400"/>
+		 <define name="THETA_IGAIN"  value="-200"/>
+		 
+		 <define name="PSI_PGAIN"  value="-2000"/>
+		 <define name="PSI_DGAIN"  value="-400"/>
+		 <define name="PSI_IGAIN"  value="-10"/>
+		 
+		 
+		 <define name="PHI_DDGAIN"   value=" 300"/>
+		 <define name="THETA_DDGAIN" value=" 300"/>
+		 <define name="PSI_DDGAIN"   value=" 300"/>   
+		 -->
+		
+		<!-- feedback -->
+		<define name="PHI_PGAIN"  value="-900"/>
+		<define name="PHI_DGAIN"  value="-200"/>
+		<define name="PHI_IGAIN"  value="-200"/>
+		
+		<define name="THETA_PGAIN"  value="-900"/>
+		<define name="THETA_DGAIN"  value="-200"/>
+		<define name="THETA_IGAIN"  value="-200"/>
+		
+		<define name="PSI_PGAIN"  value="-900"/>
+		<define name="PSI_DGAIN"  value="-200"/>
+		<define name="PSI_IGAIN"  value="-10"/>
+		
+		<!-- feedforward -->
+		<define name="PHI_DDGAIN"   value=" 200"/>
+		<define name="THETA_DDGAIN" value=" 200"/>
+		<define name="PSI_DDGAIN"   value=" 200"/>
+		
+	</section>
+	
+	<section name="AHRS" prefix="AHRS_">
+		<define name="PROPAGATE_FREQUENCY" value="512"/>
+		<define name="H_X" value=" 0.3723657"/>
+		<define name="H_Y" value=" 0.1515225"/>
+		<define name="H_Z" value="-0.9156335"/>
+	</section>
+	
+	<section name="INS" prefix="INS_">
+		<define name="BARO_SENS" value="10." integer="16"/>
+	</section>
+	
+	<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+		<define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+		<define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+		<define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+		<define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+		<define name="MAX_SUM_ERR" value="2000000"/>
+		<define name="HOVER_KP"    value="-150"/>
+		<define name="HOVER_KD"    value="-80"/>
+		<define name="HOVER_KI"    value="0"/>
+		
+		<!--  
+		 <define name="HOVER_KP"     value="-150"/>
+		 <define name="HOVER_KD"     value="-80"/>
+		 <define name="HOVER_KI"     value="0"/>
+		 -->
+		
+		<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+		<define name="RC_CLIMB_COEF" value ="163"/>
+		<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+		<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+		<!-- <define name="INV_M" value ="0.2"/> -->
+	</section>
+	
+	
+	<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+		<define name="PGAIN" value="-100"/>
+		<define name="DGAIN" value="-100"/>
+		<define name="IGAIN" value="-0"/>
+		<define name="NGAIN" value="-0"/>
+	</section>
+	
+	<section name="MISC">
+		<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>

 </airframe>
@@ -1,55 +1,66 @@
 <?xml version="1.0"?>

 <conf>
-
-<!-- arm7 aircrafts -->
-
-<!-- booz2 -->
-   <aircraft
-   name="BOOZ2_A1"
-   ac_id="150"
-   airframe="airframes/Poine/booz2_a1.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/telemetry_booz2.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
-   gui_color="white"
-  />
-
-<!-- LISA -->
-  <aircraft
-   name="LisaL11_Aspirin15_overo_FW"
-   ac_id="1"
-   airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/basic_ins.xml settings/tuning_ins.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="BOOZ2_A7"
-   ac_id="159"
-   airframe="airframes/Poine/booz2_a7.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/telemetry_booz2.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="LISA_ASCTEC_PIOTR"
-   ac_id="161"
-   airframe="airframes/esden/lisa_asctec.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/telemetry_booz2.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
-   gui_color="white"
-  />
-
- <!-- tiny -->
-  <aircraft
+	
+	<!-- LISA -->
+	<aircraft
+	name="LisaL11_Booz2_12_RC"
+	ac_id="1"
+	airframe="airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/telemetry_booz2.xml"
+	flight_plan="flight_plans/dummy.xml"
+	settings="settings/settings_booz2.xml"
+	gui_color="white"
+	/>
+	<aircraft
+	name="LisaL11_Aspirin15_overo_FW"
+	ac_id="2"
+	airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/default_fixedwing_imu.xml"
+	flight_plan="flight_plans/dummy.xml"
+	settings="settings/basic_ins.xml settings/tuning_ins.xml"
+	gui_color="white"
+	/>
+	
+	<!-- arm7 aircrafts -->
+	
+	<!-- booz2 -->
+	<aircraft
+	name="BOOZ2_A1"
+	ac_id="150"
+	airframe="airframes/Poine/booz2_a1.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/telemetry_booz2.xml"
+	flight_plan="flight_plans/dummy.xml"
+	settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+	gui_color="white"
+	/>
+	
+	<aircraft
+	name="BOOZ2_A7"
+	ac_id="159"
+	airframe="airframes/Poine/booz2_a7.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/telemetry_booz2.xml"
+	flight_plan="flight_plans/dummy.xml"
+	settings="settings/settings_booz2.xml"
+	gui_color="white"
+	/>
+	<aircraft
+	name="LISA_ASCTEC_PIOTR"
+	ac_id="161"
+	airframe="airframes/esden/lisa_asctec.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/telemetry_booz2.xml"
+	flight_plan="flight_plans/dummy.xml"
+	settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+	gui_color="white"
+	/>
+	
+	<!-- tiny -->
+	<aircraft
    name="Microjet"
    ac_id="5"
    airframe="airframes/microjet_example.xml"
@@ -58,18 +69,18 @@
    flight_plan="flight_plans/basic.xml"
    settings="settings/basic_infrared.xml"
    gui_color="#6293ba"
-  />
-  <aircraft
-   name="Tiny_IMU"
-   ac_id="7"
-   airframe="airframes/example_twog_analogimu.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/tuning_ins.xml"
-   gui_color="blue"
-  />
-  <aircraft
+	/>
+	<aircraft
+	name="Tiny_IMU"
+	ac_id="7"
+	airframe="airframes/example_twog_analogimu.xml"
+	radio="radios/cockpitSX.xml"
+	telemetry="telemetry/default_fixedwing_imu.xml"
+	flight_plan="flight_plans/versatile.xml"
+	settings="settings/tuning_ins.xml"
+	gui_color="blue"
+	/>
+	<aircraft
    name="Twinjet"
    ac_id="6"
    airframe="airframes/twinjet_example.xml"
@@ -78,8 +89,8 @@
    flight_plan="flight_plans/versatile.xml"
    settings="settings/tuning.xml settings/infrared.xml"
    gui_color="#ba6293"
-  />
-  <aircraft
+	/>
+	<aircraft
    name="EasyStar_ETS"
    ac_id="8"
    airframe="airframes/easystar_ets_example.xml"
@@ -88,6 +99,6 @@
    flight_plan="flight_plans/versatile.xml"
    settings="settings/tuning.xml settings/infrared.xml"
    gui_color="red"
-  />
-
+	/>
+	
 </conf>