mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
airframe files
This commit is contained in:
Gautier Hattenberger
@@ -18,6 +18,7 @@
|
||||
<target name="ap" board="booz_1.0">
|
||||
<define name="FAILSAFE_GROUND_DETECT"/>
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
<define name="BOOZ_START_DELAY" value="3"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
@@ -28,8 +29,10 @@
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="asctec"/>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
@@ -93,9 +96,10 @@
|
||||
<define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-1.5)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45)"/> <!-- -13 -->
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-10.)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-10.)"/>
|
||||
<!--define name="BODY_TO_IMU_PSI" value="RadOfDeg(45.)"/-->
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -159,7 +163,6 @@
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="HACK_45" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
@@ -178,8 +181,8 @@
|
||||
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="-500"/>
|
||||
<define name="HOVER_KD" value="-250"/>
|
||||
<define name="HOVER_KP" value="-400"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
@@ -199,7 +202,7 @@
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.25" integer="16"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
<define name="USE_INS_NAV_INIT"/>
|
||||
<define name="USE_ADAPT_HOVER"/>
|
||||
<define name="NO_FUCKING_STARTUP_DELAY"/>
|
||||
<define name="NO_ANGLE_REF"/>
|
||||
<!--define name="GUIDANCE_H_USE_REF"/-->
|
||||
|
||||
<target name="ap" board="navgo_1.0">
|
||||
@@ -31,7 +32,9 @@
|
||||
<subsystem name="imu" type="navgo"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler">
|
||||
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
@@ -57,7 +60,7 @@
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="20"/>
|
||||
<define name="MAX_MOTOR" value="255"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_A" value="6"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
@@ -70,18 +73,52 @@
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="5"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-10"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="17"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="-126"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-29"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="-32"/>
|
||||
|
||||
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
|
||||
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-5"/>
|
||||
<define name="ACCEL_X_NEUTRAL" value="4"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-17"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-22"/>
|
||||
|
||||
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
|
||||
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="85"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="97"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-43"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/> <!-- -10 -->
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 -->
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="IMU_PROTO" prefix="IMU_PROTO_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="-24"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-8"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="21"/>
|
||||
|
||||
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
|
||||
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-20"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-29"/>
|
||||
|
||||
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
|
||||
<define name="ACCEL_X_SENS" value="38.2683" integer="16"/>
|
||||
@@ -153,22 +190,22 @@
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-700"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-50"/>
|
||||
<define name="PHI_PGAIN" value="-350"/>
|
||||
<define name="PHI_DGAIN" value="-190"/>
|
||||
<define name="PHI_IGAIN" value="-100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-700"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-50"/>
|
||||
<define name="THETA_PGAIN" value="-350"/>
|
||||
<define name="THETA_DGAIN" value="-190"/>
|
||||
<define name="THETA_IGAIN" value="-100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-700"/>
|
||||
<define name="PSI_DGAIN" value="-250"/>
|
||||
<define name="PSI_IGAIN" value="-20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
<define name="PHI_DDGAIN" value=" 70"/>
|
||||
<define name="THETA_DDGAIN" value=" 70"/>
|
||||
<define name="PSI_DDGAIN" value=" 70"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user