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[tudelft] Rot Wing Updates V3 (#3278)

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* max bank in deg

* takeoff no attitude msec timer

* Prepared elevator moment compensation fix

* [EHVB_rotwing fp] Updated takeoff stratgey with roll and pitch check and added standby_free to flightplan

* [fp EHVB] Takeoff 3 seconds on att 0,0

* increase filter freq and setting for max acc

* [rot_wing_eff_sched] Elevator 5 degrees higher

* [rot_wing] Decreased cutoff frequencies of filters

* [modules] Support dual ublox GPS modules

* [ekf2] Add failsafe remove yaw

* Reverted acceleration limits

* takeoff procedure update

* [flight_plan] Takeoff when hover motors are running

* scale elevator ctrl eff in transition

* [conf] Fix takeoff

* Higher pitch gains

* Fix conf

* Add extra throttle for spinup

* Update calibration

* max_bank in Radians only except in xml/gcs with auto-conversion

* cleanup

* Use flightplan variables instead...

* fix test

* revert debugging action

* cleanup unused

* cleanup more

* Fix compile bug

* [pfc] Fix actuators

* Add follow tests

* reduce pitch weight in forward flight

* correctly set cmd thrust in INDI

* fix takeoff unequal roll effectiveness and not in_flight

* Fix heading in approach

* fix double define and roll scaling setting

* settings names and roll scaling in right settings

* moving simulator stuff

* [flight_plan] Update angel for takeoff

* Update conf

* Conf update

* [conf] Update checks

* land in approach

* Fix flightplan

* Update sw/ground_segment/python/moving_base/moving_base.py

* input params for moving base sim

* no elevator compensation

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
Co-authored-by: Dennis van Wijngaarden <32736330+Dennis-Wijngaarden@users.noreply.github.com>
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
This commit is contained in:
Christophe De Wagter
2024-06-05 14:58:07 +02:00
committed by GitHub
parent 827a468e8a
commit 308a698bf4
22 changed files with 436 additions and 245 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/tudelft/rot_wing_25kg.xml
+3 -2
View File
@@ -281,7 +281,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -446,7 +447,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/airframes/tudelft/rot_wing_v3b.xml
+5 -4
View File
@@ -338,7 +338,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -426,10 +427,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="40.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="7.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -490,7 +491,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/airframes/tudelft/rot_wing_v3d.xml
+5 -4
View File
@@ -326,7 +326,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -414,10 +415,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -477,7 +478,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/airframes/tudelft/rot_wing_v3e.xml
+5 -4
View File
@@ -326,7 +326,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -414,10 +415,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -477,7 +478,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/airframes/tudelft/rot_wing_v3f.xml
+5 -4
View File
@@ -326,7 +326,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -414,10 +415,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -477,7 +478,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/airframes/tudelft/rot_wing_v3g.xml
+16 -8
View File
@@ -30,6 +30,7 @@
<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
<define name="MULTI_GPS_MODE" value="GPS_MODE_PRIMARY"/>
<!--Only send gyro and accel that is being used-->
<define name="IMU_GYRO_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
@@ -323,14 +324,15 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_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, .feedback_id2=SERVO_BROTATION_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}}"/>
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.56, .high_feedback=0.09, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.25, .high_feedback=0.25, .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, .feedback_id2=SERVO_BROTATION_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"/>
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -339,7 +341,6 @@
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS|MASK_USE_GPSYAW)"/>
<define name="INS_EKF2_GPS_YAW_OFFSET" value="0"/>
<define name="MULTI_GPS_MODE" value="PRIMARY_GPS"/>
</section>
<section name="GROUND_DETECT">
@@ -421,10 +422,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -484,7 +485,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
@@ -502,6 +503,7 @@
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
<define name="MAX_LAT_ACCEL" value="5.0"/>
<define name="ACCEL_FWD_BX_LIM" value="3.0"/>
</section>
<section name="FORWARD">
@@ -512,12 +514,16 @@
<section name="AMT" prefix="APPROACH_MOVING_TARGET_">
<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
<define name="ERR_SLOWDOWN_GAIN" value="0.25" />
<define name="SLOPE" value="60.0"/>
<define name="ERR_SLOWDOWN_GAIN" value="0.1" />
<define name="SLOPE" value="50.0"/>
<define name="DISTANCE" value="70.0"/>
<define name="SPEED" value="0.0"/>
</section>
<section name="TARGET_POS">
<define name="TARGET_OFFSET_DISTANCE" value="20.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
@@ -553,7 +559,9 @@
<item name="tail connection">Check tail connection</item>
<item name="wing tape">Check wings taped and secured</item>
<item name="attitude">Check attitude and heading</item>
<item name="airspeed">Airspeed sensor calibration</item>
<item name="takeoff location">Put UAV on take-off location</item>
<item name="actuators">Automated actuator check</item>
<item name="flight plan">Check flight plan</item>
<item name="flight block">Switch to correct flight block</item>
<item name="camera">Switch on camera</item>
conf/airframes/tudelft/rot_wing_v3h.xml
+7 -6
View File
@@ -30,6 +30,7 @@
<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
<define name="MULTI_GPS_MODE" value="GPS_MODE_PRIMARY"/>
<!--Only send gyro and accel that is being used-->
<define name="IMU_GYRO_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
@@ -330,7 +331,8 @@
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
@@ -339,7 +341,6 @@
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS|MASK_USE_GPSYAW)"/>
<define name="INS_EKF2_GPS_YAW_OFFSET" value="0"/>
<define name="MULTI_GPS_MODE" value="PRIMARY_GPS"/>
</section>
<section name="GROUND_DETECT">
@@ -354,7 +355,7 @@
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,11}, .scale={{36573,4111,12385},{3737,420,1269}}, .filter_sample_freq=1130, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,-5,24}, .scale={{21205,53606,11977},{4326,10919,2440}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-63,-14,21}, .scale={{32790,18121,37501},{6697,3698,7659}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={2658,2634,1176}, .scale={{20085,2361,16413},{34633,4348,28912}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={11770,9014,-7862}, .scale={{1879,14000,16295},{3057,25229,28216}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1130, .filter_freq=30}}"/>
<!-- Define axis in hover frame -->
@@ -421,10 +422,10 @@
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_Q" value="70.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_Q" value="9.0"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
@@ -484,7 +485,7 @@
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="FILTER_CUTOFF" value="2.5"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
conf/flight_plans/tudelft/rotating_wing_EHR8.xml
+26 -5
View File
@@ -41,9 +41,14 @@
<corner name="C9"/>
</sector>
</sectors>
<variables>
<variable var="liftoff_pitch"/>
<variable var="liftoff_roll"/>
<variable var="stage_timer_msec"/>
</variables>
<modules>
<module name="follow_me">
<define name="FOLLOW_ME_MOVING_WPS" value="WP_p1,WP_p2,WP_p3,WP_p4,WP_STDBY,WP_circ,WP_APP"/>
<define name="FOLLOW_ME_MOVING_WPS" value="WP_p1,WP_p2,WP_p3,WP_p4,WP_STDBY,WP_circ,WP_TD"/>
</module>
</modules>
<exceptions>
@@ -59,7 +64,7 @@
<block name="Geo init">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<while cond="LessThan(NavBlockTime(), 10)"/>
<call_once fun="NavSetAltitudeReferenceHere()"/>
<call_once fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
@@ -68,16 +73,25 @@
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
<exception cond="stage_time > 10" deroute="Holding point"/>
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="nav_set_heading_current()"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
<attitude pitch="DegOfRad(stateGetNedToBodyEulers_f()->theta)" roll="DegOfRad(stateGetNedToBodyEulers_f()->phi)" throttle="0" until="rotwing_state_hover_motors_running()" vmode="throttle"/>
</block>
<block name="Wait takeoff">
<exception cond="stage_time > 10" deroute="Holding point"/>
<attitude pitch="DegOfRad(stateGetNedToBodyEulers_f()->theta)" roll="DegOfRad(stateGetNedToBodyEulers_f()->phi)" throttle="0.2" until="(fabs(DegOfRad(stateGetNedToBodyEulers_f()->theta)) @LT 5.0) @AND (fabs(DegOfRad(stateGetNedToBodyEulers_f()->phi)) @LT 5.0) @AND (stage_time > 2)" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<set var="stage_timer_msec" value="get_sys_time_msec()"/>
<set var="liftoff_roll" value="DegOfRad(stateGetNedToBodyEulers_f()->phi)"/>
<set var="liftoff_pitch" value="DegOfRad(stateGetNedToBodyEulers_f()->theta)"/>
<attitude pitch="liftoff_pitch" roll="liftoff_roll" throttle="0.75" until="(get_sys_time_msec()-stage_timer_msec)>250" vmode="throttle"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
</block>
<block name="Climb">
@@ -92,6 +106,13 @@
</block>
<block name="Approach APP">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="Approach Flare"/>
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
</block>
<block name="Approach Flare">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<exception cond="ground_detect()" deroute="Holding point"/>
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
</block>
<!-- <block name="follow_module">
conf/flight_plans/tudelft/rotating_wing_EHVB.xml
+27 -9
View File
@@ -1,5 +1,5 @@
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
<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">
<flight_plan alt="80" 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="0" y="0"/>
@@ -15,8 +15,8 @@
<waypoint name="p4" x="120" y="-75"/> -->
<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"/> -->
<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"/>
@@ -41,10 +41,15 @@
<corner name="C9"/>
</sector>
</sectors>
<variables>
<variable var="liftoff_pitch"/>
<variable var="liftoff_roll"/>
<variable var="stage_timer_msec"/>
</variables>
<modules>
<!--<module name="follow_me">
<define name="FOLLOW_ME_MOVING_WPS" value="WP_p1,WP_p2,WP_p3,WP_p4,WP_STDBY,WP_circ,WP_APP"/>
</module> -->
<module name="follow_me">
<define name="FOLLOW_ME_MOVING_WPS" value="WP_FOLLOW"/>
</module>
</modules>
<exceptions>
<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosHeight() @GT 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
@@ -68,16 +73,25 @@
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
<exception cond="stage_time > 10" deroute="Holding point"/>
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="nav_set_heading_current()"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
<attitude pitch="DegOfRad(stateGetNedToBodyEulers_f()->theta)" roll="DegOfRad(stateGetNedToBodyEulers_f()->phi)" throttle="0" until="rotwing_state_hover_motors_running()" vmode="throttle"/>
</block>
<block name="Wait takeoff">
<exception cond="stage_time > 10" deroute="Holding point"/>
<attitude pitch="DegOfRad(stateGetNedToBodyEulers_f()->theta)" roll="DegOfRad(stateGetNedToBodyEulers_f()->phi)" throttle="0.2" until="(fabs(DegOfRad(stateGetNedToBodyEulers_f()->theta)) @LT 3.0) @AND (fabs(DegOfRad(stateGetNedToBodyEulers_f()->phi)) @LT 3.0) @AND (stage_time > 2)" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<set var="stage_timer_msec" value="get_sys_time_msec()"/>
<set var="liftoff_roll" value="DegOfRad(stateGetNedToBodyEulers_f()->phi)"/>
<set var="liftoff_pitch" value="DegOfRad(stateGetNedToBodyEulers_f()->theta)"/>
<attitude pitch="liftoff_pitch" roll="liftoff_roll" throttle="0.75" until="(get_sys_time_msec()-stage_timer_msec)>250" vmode="throttle"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
</block>
<block name="Climb">
@@ -162,6 +176,10 @@
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block> -->
<block name="Approach APP">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
</block>
<block name="Transition_quad">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<go wp="STDBY"/>
conf/modules/eff_scheduling_rot_wing.xml
+2 -1
View File
@@ -22,6 +22,7 @@
<dl_settings>
<dl_settings NAME="eff_sched">
<dl_setting var="eff_sched_pusher_time" min="0.002" step="0.002" max="3." shortname="push_time"/>
<dl_setting shortname="roll_scaling" var="roll_eff_scaling" min="0.3" step="0.01" max="1.0"/>
</dl_settings>
</dl_settings>
</settings>
@@ -32,7 +33,7 @@
<periodic fun="eff_scheduling_rot_wing_periodic()" freq="10.0"/>
<makefile>
<file name="eff_scheduling_rot_wing.c"/>
<test>
<test firmware="rotorcraft">
<define name="ACTUATORS_NB" value="10"/>
<define name="SERVO_ROTATION_MECH_IDX" value="8"/>
<define name="SERVO_MOTOR_FRONT" value="0"/>
conf/modules/ins_ekf2.xml
+1 -1
View File
@@ -49,7 +49,7 @@
<dl_setting var="ekf2.qnh" min="500" step="0.1" max="1500" shortname="QNH"/>
<dl_setting var="ekf2.temp" min="-50" step="0.1" max="80" shortname="temperature"/>
<dl_setting var="ekf2.mag_fusion_type" min="0" step="1" max="5" shortname="mag_fusion" values="AUTO|HEADING|3D|AUTOFW|INDOOR|NONE" module="modules/ins/ins_ekf2" handler="change_param"/>
<dl_setting var="ekf2.fusion_mode" min="0" max="1" step="1" shortname="remove_gps" values="FALSE|TRUE" module="modules/ins/ins_ekf2" handler="remove_gps" type="bool"/>
<dl_setting var="ekf2.fusion_mode" min="0" max="1" step="1" shortname="remove_gps_yaw" values="FALSE|TRUE" module="modules/ins/ins_ekf2" handler="remove_gps" type="bool"/>
</dl_settings>
</dl_settings>
</settings>
conf/modules/parachute.xml
+1 -1
View File
@@ -7,7 +7,7 @@
</doc>
<settings>
<dl_settings>
<dl_settings NAME="RotWingState">
<dl_settings NAME="Parachute">
<dl_setting var="parachute.arming_method" min="0" step="1" max="2" values="OFF|AUTO|ALWAYS ON" shortname="arming"/>
</dl_settings>
</dl_settings>
conf/modules/pfc_actuators.xml
+1 -1
View File
@@ -12,7 +12,7 @@
</doc>
<settings>
<dl_settings>
<dl_settings name="Checks">
<dl_settings name="pfc_actuators">
<dl_setting var="act_start" min="0" step="1" max="1" values="OFF|START" handler="start" module="checks/pfc_actuators" type="fun"/>
</dl_settings>
</dl_settings>
conf/userconf/tudelft/conf.xml
+37 -4
View File
@@ -557,7 +557,7 @@
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/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/eff_scheduling_rot_wing.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"
gui_color="red"
/>
<aircraft
@@ -568,7 +568,7 @@
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"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rot_wing.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/parachute.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
@@ -579,7 +579,7 @@
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"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rot_wing.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/parachute.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
@@ -590,7 +590,40 @@
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/parachute.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"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rot_wing.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/parachute.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="RotatingWingV3F"
ac_id="10"
airframe="airframes/tudelft/rot_wing_v3f.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/eff_scheduling_rot_wing.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/parachute.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="RotatingWingV3G"
ac_id="11"
airframe="airframes/tudelft/rot_wing_v3g.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHR8.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rot_wing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/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="RotatingWingV3H"
ac_id="33"
airframe="airframes/tudelft/rot_wing_v3h.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/eff_scheduling_rot_wing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/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>
conf/userconf/tudelft/control_panel.xml
+185 -172
View File
@@ -66,6 +66,66 @@
<program name="PayloadForward" command="sw/ground_segment/python/payload_forward/payload.py"/>
</section>
<section name="sessions">
<session name="Bluegiga">
<program name="BluegigaUsbDongle">
<arg flag="/dev/ttyACM2" constant="all"/>
<arg flag="4242" constant="4252"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="NatNet3">
<arg flag="-ac" constant="1"/>
<arg flag="12"/>
<arg flag="-sm"/>
<arg flag="-f" constant="5"/>
<arg flag="-o"/>
<arg flag="-zf"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Bluegiga">
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="NatNet3">
<arg flag="-ac" constant="7"/>
<arg flag="114"/>
<arg flag="-sm"/>
<arg flag="-f" constant="5"/>
<arg flag="-o"/>
<arg flag="-zf"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
<program name="BluegigaUsbDongle">
<arg flag="/dev/ttyACM2"/>
<arg flag="00:07:80:2d:e0:4b"/>
<arg flag="4242"/>
<arg flag="4252"/>
</program>
</session>
<session name="EKF Full">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
@@ -138,110 +198,6 @@
<arg flag="-c" constant="*:telemetry:OPTICAL_FLOW:distance_compensated"/>
</program>
</session>
<session name="helidd">
<program name="BluegigaUsbDongle">
<arg flag="/dev/ttyACM0" constant="00:07:80:2d:d6:d9"/>
<arg flag="4242" constant="4252"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="GeniusDD"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Flight XBeeAPI USB0 @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
<arg flag="-layout" constant="bottom_settings.xml"/>
</program>
<program name="Messages"/>
</session>
<session name="Bluegiga">
<program name="BluegigaUsbDongle">
<arg flag="/dev/ttyACM2" constant="all"/>
<arg flag="4242" constant="4252"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="NatNet3">
<arg flag="-ac" constant="1"/>
<arg flag="12"/>
<arg flag="-sm"/>
<arg flag="-f" constant="5"/>
<arg flag="-o"/>
<arg flag="-zf"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Scaled Sensors">
<program name="Real-time Plotter">
<arg flag="-g" constant="1000x250-0+0"/>
<arg flag="-t" constant="ACC"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="9.81"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="-9.81"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+250"/>
<arg flag="-t" constant="GYRO"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+500"/>
<arg flag="-t" constant="MAG"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
</program>
</session>
<session name="Joystick Hobbyking">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="PythonTools">
<program name="IridiumDialer"/>
<program name="PayloadForward"/>
<program name="SVInfo"/>
<program name="IridiumDialer"/>
</session>
<session name="Flight /dev/paparazzi/link Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/link"/>
@@ -264,15 +220,19 @@
<arg flag="-layout" constant="bottom_settings.xml"/>
</program>
</session>
<session name="Messages and Settings">
<program name="Messages"/>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
<session name="Flight ACM0 Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
</session>
<session name="Flight ttyUSB0 Transparent @57600">
<session name="Flight ACM1 Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-d" constant="/dev/ttyACM1"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
@@ -299,7 +259,7 @@
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
<arg flag="-d 0"/>
@@ -310,57 +270,6 @@
<arg flag="-zf"/>
</program>
</session>
<session name="Flight ACM0 Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
</session>
<session name="Flight ACM1 Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM1"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
</session>
<session name="Bluegiga">
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="NatNet3">
<arg flag="-ac" constant="7"/>
<arg flag="114"/>
<arg flag="-sm"/>
<arg flag="-f" constant="5"/>
<arg flag="-o"/>
<arg flag="-zf"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
<arg flag="/dev/ttyACM2"/>
<arg flag="00:07:80:2d:e0:4b"/>
<arg flag="4242"/>
<arg flag="4252"/>
</program>
</session>
<session name="Flight UDP/WiFi">
<program name="Server"/>
<program name="GCS"/>
@@ -368,6 +277,59 @@
<arg flag="-udp"/>
</program>
</session>
<session name="Flight XBeeAPI USB0 @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-transport" constant="xbee"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
<arg flag="-layout" constant="bottom_settings.xml"/>
</program>
<program name="Messages"/>
</session>
<session name="Flight ttyUSB0 Transparent @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
</session>
<session name="Hydrogen">
<program name="Attitude Visualizer"/>
<program name="HydrogenStatus"/>
<program name="NederdroneStatus"/>
<program name="ATC"/>
</session>
<session name="Joystick Hobbyking">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Joystick X3D Pro">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="extreme_3d_pro.xml"/>
</program>
</session>
<session name="Messages and Settings">
<program name="Messages"/>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
</program>
</session>
<session name="PythonTools">
<program name="IridiumDialer"/>
<program name="PayloadForward"/>
<program name="SVInfo"/>
<program name="IridiumDialer"/>
</session>
<session name="Raw Sensors">
<program name="Real-time Plotter">
<arg flag="-g" constant="1000x250-0+0"/>
@@ -401,10 +363,33 @@
<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
</program>
</session>
<session name="Joystick X3D Pro">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="extreme_3d_pro.xml"/>
<session name="Scaled Sensors">
<program name="Real-time Plotter">
<arg flag="-g" constant="1000x250-0+0"/>
<arg flag="-t" constant="ACC"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="9.81"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="-9.81"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+250"/>
<arg flag="-t" constant="GYRO"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
<arg flag="-n"/>
<arg flag="-g" constant="1000x250-0+500"/>
<arg flag="-t" constant="MAG"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-c" constant="0.00"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
</program>
</session>
<session name="Simulation - Gazebo">
@@ -449,18 +434,46 @@
<arg flag="-track_size" constant="200"/>
<arg flag="-zoom" constant="40."/>
</program>
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
<arg flag="-d 0"/>
</program>
<program name="Gazebo"/>
</session>
<session name="Hydrogen">
<program name="Attitude Visualizer"/>
<program name="HydrogenStatus"/>
<program name="NederdroneStatus"/>
<program name="ATC"/>
<session name="helidd">
<program name="BluegigaUsbDongle">
<arg flag="/dev/ttyACM0" constant="00:07:80:2d:d6:d9"/>
<arg flag="4242" constant="4252"/>
</program>
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="GeniusDD"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Ship">
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="Settings"/>
<program name="ATC">
<arg flag="-i" constant="11"/>
<arg flag="-e" constant="udp://0.0.0.0:12001:10.19.127.1:12000"/>
<arg flag="-r"/>
</program>
</session>
</section>
</control_panel>