mirror of
https://github.com/paparazzi/paparazzi.git
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Monocular Optical Flow hover (#2239)
This commit is contained in:
Titus
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
a628e6af97
commit
30ab122e91
@@ -0,0 +1,252 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="ardrone2">
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<description>
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This airframe uses the optical flow module that uses monocular vision height estimation to stabilize a quadrotor using only a downwards
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facing camera and an IMU. For additional documentation please visit the module xml file.
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The settings in this airframe are calibrated for performance on an ARDrone2 specifically.
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2">
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<configure name="USE_BARO_BOARD" value="FALSE" />
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</target>
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<define name="USE_SONAR" value="FALSE" />
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp" />
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<module name="radio_control" type="datalink" />
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<module name="motor_mixing" />
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<module name="actuators" type="ardrone2" />
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<module name="imu" type="ardrone2" />
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<!-- Switch GPS for Optitrack mode -->
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<module name="gps" type="datalink" />
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<module name="stabilization" type="indi_simple" />
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0" />
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</module>
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<!--module name="ins" type="extended">
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</module-->
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<module name="ins" type="gps_passthrough"/>
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<module name="bat_voltage_ardrone2" />
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<module name="video_thread" />
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<module name="pose_history" />
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<module name="cv_opticflow">
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<define name="OPTICFLOW_METHOD" value="0" />
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<define name="OPTICFLOW_CAMERA" value="bottom_camera" />
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<!-- ARDrone2 FPS improvements -->
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<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
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<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
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</module>
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<module name="optical_flow_hover" >
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<define name="OFH_HOVER_METHOD" value = "1" />
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<define name="OFH_MAXBANK" value = "10.f" />
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<define name="XY_SYMMETRICAL" value = "1" />
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<define name="OFH_OSCPHI" value = "1" />
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<define name="OFH_OSCTHETA" value = "0" />
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<define name="COV_WINDOW_SIZE" value = "300" />
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<define name="OF_LP_CONST" value = "0.6" />
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<define name="OFH_RAMPZ" value = "0.125" />
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<define name="OFH_IGAINZ" value = "0.003" />
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<define name="OFH_REDUCTIONZ" value = "0.45" />
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<define name="OFH_COVDIV_SETPOINT" value = "-0.025" />
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<define name="OFH_IGAINX" value = "0.00005" />
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<define name="OFH_IGAINY" value = "0.00005" />
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<define name="OFH_RAMPXY" value = "0.0004" />
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<define name="OFH_REDUCTIONXY" value = "0.3" />
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<define name="OFH_COVFLOW_SETPOINT" value = "-2000.f" />
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<define name="OFH_VER_SLOPE_A" value = "0.5" />
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<define name="OFH_VER_SLOPE_B" value = "0.25" />
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<define name="OFH_HOR_X_SLOPE_A" value = "0.006" />
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<define name="OFH_HOR_X_SLOPE_B" value = "0.004" />
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</module>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0" />
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<axis name="ROLL" failsafe_value="0" />
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<axis name="YAW" failsafe_value="0" />
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<axis name="THRUST" failsafe_value="3000" />
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500" />
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500" />
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500" />
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500" />
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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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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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="TYPE" value="QUAD_X" />
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)" />
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]" />
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]" />
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]" />
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]" />
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelero -->
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<define name="ACCEL_X_NEUTRAL" value="2048" />
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<define name="ACCEL_Y_NEUTRAL" value="2048" />
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<define name="ACCEL_Z_NEUTRAL" value="2048" />
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="0" />
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<define name="MAG_Y_NEUTRAL" value="0" />
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<define name="MAG_Z_NEUTRAL" value="-180" />
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<define name="MAG_X_SENS" value="16." integer="16" />
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<define name="MAG_Y_SENS" value="16." integer="16" />
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<define name="MAG_Z_SENS" value="16." integer="16" />
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0" />
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<define name="MAG_Y_CURRENT_COEF" value="0.0" />
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<define name="MAG_Z_CURRENT_COEF" value="0.0" />
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<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg" />
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<define name="BODY_TO_IMU_THETA" value="3.0" unit="deg" />
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<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg" />
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Delft -->
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<define name="H_X" value="0.3892503" />
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<define name="H_Y" value="0.0017972" />
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<define name="H_Z" value="0.9211303" />
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<!-- Use GPS heading instead of magneto -->
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<define name="USE_GPS_HEADING" value="1" />
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0" />
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</section>
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<section name="INS" prefix="INS_">
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<!--Use GPS altitude measurments and set the R gain -->
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<define name="USE_GPS_ALT" value="1" />
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<define name="VFF_R_GPS" value="0.01" />
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</section>
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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="600" unit="deg/s" />
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<define name="DEADBAND_A" value="0" />
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<define name="DEADBAND_E" value="0" />
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<define name="DEADBAND_R" value="250" />
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<!-- reference -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s" />
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<define name="REF_ZETA_P" value="0.9" />
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<define name="REF_MAX_P" value="600." unit="deg/s" />
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
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<define name="REF_OMEGA_Q" value="450" unit="deg/s" />
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<define name="REF_ZETA_Q" value="0.9" />
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<define name="REF_MAX_Q" value="600." unit="deg/s" />
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
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<define name="REF_OMEGA_R" value="450" unit="deg/s" />
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<define name="REF_ZETA_R" value="0.9" />
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<define name="REF_MAX_R" value="300." unit="deg/s" />
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<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)" />
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.028551973" />
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<define name="G1_Q" value="0.023775417" />
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<define name="G1_R" value="0.00173069" />
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<define name="G2_R" value="0.086460732" />
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="380.0" />
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<define name="REF_ERR_Q" value="380.0" />
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<define name="REF_ERR_R" value="70.0" />
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<define name="REF_RATE_P" value="21.6" />
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<define name="REF_RATE_Q" value="21.6" />
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<define name="REF_RATE_R" value="11.0" />
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2" />
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<define name="FILT_CUTOFF_R" value="3.2" />
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06" />
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<define name="ACT_DYN_Q" value="0.06" />
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<define name="ACT_DYN_R" value="0.06" />
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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="0.0002" />
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<!-- Agressive gains -->
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<define name="HOVER_KP" value="600" />
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<define name="HOVER_KD" value="400" />
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<!-- Less Agressive Gains
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<define name="HOVER_KP" value="363" />
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<define name="HOVER_KD" value="237" /> -->
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<define name="HOVER_KI" value="13" />
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<define name="NOMINAL_HOVER_THROTTLE" value="0.61" />
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE" />
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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="22" unit="deg" />
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<!-- Agressive Gains -->
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<define name="PGAIN" value="363" />
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<define name="DGAIN" value="237" />
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<define name="IGAIN" value="30" />
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<!-- Less Agressive Gains >
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<define name="PGAIN" value="80" />
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<define name="DGAIN" value="40" />
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<define name="IGAIN" value="13" /> -->
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
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<define name="MODE_MANUAL" value="AP_MODE_MODULE" />
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT" />
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<define name="MODE_AUTO2" value="AP_MODE_NAV" />
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<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.6" unit="V" />
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<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V" />
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<define name="LOW_BAT_LEVEL" value="10.2" unit="V" />
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
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</section>
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</airframe>
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@@ -0,0 +1,229 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="tudelft_tb_bebop">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop"/>
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<define name="USE_SONAR" value="FALSE" />
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="stabilization" type="rate_indi"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- TURN ON OUTSIDE -->
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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</module>
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<!--module name="ins" type="extended">
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</module-->
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<module name="ins" type="gps_passthrough"/>
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<!-- module name="guidance" type="indi"/-->
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<!-- <module name="guidance" type="indi"> <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN"
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value="-500.0"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
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<define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> </module> -->
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</firmware>
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<modules main_freq="512">
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<module name="video_thread"/>
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<module name="pose_history"/>
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<module name="cv_opticflow">
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<define name="OPTICFLOW_METHOD" value="0"/>
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<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
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<define name="OPTICFLOW_SEARCH_DISTANCE" value="40"/>
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</module>
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<module name="optical_flow_hover" >
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<define name="OFH_HOVER_METHOD" value = "1" />
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<define name="OFH_MAXBANK" value = "10.f" />
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<define name="XY_SYMMETRICAL" value = "1" />
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<define name="OFH_OSCPHI" value = "1" />
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<define name="OFH_OSCTHETA" value = "0" />
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<define name="OF_LP_CONST" value = "0.4" />
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<define name="COV_WINDOW_SIZE" value = "300" />
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<define name="OFH_IGAINZ" value = "0.002" />
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<define name="OFH_RAMPZ" value = "0.15" />
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<define name="OFH_REDUCTIONZ" value = "0.45" />
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<define name="OFH_COVDIV_SETPOINT" value = "-0.02" />
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<define name="OFH_IGAINX" value = "0.00002" />
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<define name="OFH_IGAINY" value = "0.00002" />
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<define name="OFH_RAMPXY" value = "0.0008" />
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<define name="OFH_REDUCTIONXY" value = "0.3" />
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<define name="OFH_COVFLOW_SETPOINT" value = "-500.f" />
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<define name="OFH_VER_SLOPE_A" value = "3.f" />
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<define name="OFH_VER_SLOPE_B" value = "-0.5" />
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<define name="OFH_HOR_X_SLOPE_A" value = "0.003" />
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<define name="OFH_HOR_X_SLOPE_B" value = "0.005" />
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</module>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800"/>
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<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800"/>
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<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800"/>
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<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<!--command_laws>
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<set servo="TOP_LEFT" value="autopilot_motors_on ? actuators_pprz[0] : -MAX_PPRZ" />
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<set servo="TOP_RIGHT" value="autopilot_motors_on ? actuators_pprz[1] : -MAX_PPRZ" />
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<set servo="BOTTOM_RIGHT" value="autopilot_motors_on ? actuators_pprz[2] : -MAX_PPRZ" />
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<set servo="BOTTOM_LEFT" value="autopilot_motors_on ? actuators_pprz[3] : -MAX_PPRZ" />
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</command_laws-->
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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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="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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<!-- For vibrating airframes -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/-->
|
||||
<!-- Optitrack -->
|
||||
<define name="USE_GPS_ALT" value="1"/>
|
||||
<define name="VFF_R_GPS" value="0.01"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="RC_SETPOINT" 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="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.030367"/>
|
||||
<define name="G1_Q" value="0.023655"/>
|
||||
<define name="G1_R" value="0.001005"/>
|
||||
<define name="G2_R" value="0.10882"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="600.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="28.0"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="120.0" unit="deg/s"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="8.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="8.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.1"/>
|
||||
<define name="ACT_DYN_Q" value="0.1"/>
|
||||
<define name="ACT_DYN_R" value="0.1"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<!--define name="HOVER_KP" value="550"/-->
|
||||
<define name="HOVER_KP" value="700"/>
|
||||
<define name="HOVER_KD" value="300"/>
|
||||
<define name="HOVER_KI" value="100"/> <!-- 13 -->
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.715"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="300"/>
|
||||
<define name="DGAIN" value="350"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
<define name="REF_MAX_SPEED" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0"/>
|
||||
<define name="DESCEND_VSPEED" value="-0.75"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.4" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user