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Add support for Mateksys H743Wing v3 FC (#3552)
* Add support for Mateksys H743Wing v3 FC * Added example AC for FC
This commit is contained in:
OpenUAS
GitHub
@@ -0,0 +1,463 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Ziggy">
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<description>
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+ Fun airframe to test some OSD functionality and Matek H734 Wing v3 FC
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+ MODEL: ZoHD Talon Nano
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+ FLIGHTCONTROLLER: Mateksys H734 Wing v3
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+ IMU: ICM42688
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+ ACTUATORS: Corona DS-919 and CS-929 MG
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+ GNSS uBlox M10 GNSS
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+ MAGNETOMETER QMC5883L
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+ ESC: HAKRC 50A with AM32 firmware
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+ RCRX: OpenR-XSR
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+ AIRSPEED: OPT: Sensirion SDP33
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+ TELEMETRY: ESP32 C3 WiFi Modem
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+ BARO: OPT: B310 on FC
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+ CURRENT: FC onboard sensor on the default analog ports
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+ RANGEFINDER: OPT: TF-Luna on I2C
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+ MOTOR: Kv 2600 rpm V Outrunner Brushless
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+ PROPELLER: Default 2 Blade 6in x 3in Left
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+ BATTERY: 21700 Li-Ion 3S1P INR21700M58T 5650mAh
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NOTES:
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+ Flightcontroller rotated 90deg Clockwise, the I2C and CAN bus connectors point to front of aircraft
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+ Engine battery voltage and current values via FC build in sensor
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+ Servos powered via 2nd BEC of the FC powerboard, FC sensors via BEC
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+ Flashing the firmware can be done via original STM32 Bootloader
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Simply, press bootbutton, USB cable in, upload.. voila PPRZ aircraft flashed
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+ A GNSS device with magnetometer is used
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+ On I2C2 we can have the airspeed sensor
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</description>
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<firmware name="fixedwing">
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<configure name="RTOS_DEBUG" value="FALSE"/>
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<target name="ap" board="matek_h743_wing">
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<configure name="CPU_LED" value="1"/>
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="500"/>
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<configure name="CONTROL_FREQUENCY" value="100"/>
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<configure name="TELEMETRY_FREQUENCY" value="50"/>
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<configure name="MODULES_FREQUENCY" value="500"/>
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<module name="imu" type="icm42688">
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<configure name="IMU_SPI_DEV" value="spi4"/>
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<configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE6"/>
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</module>
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<module name="mag" type="qmc5883l">
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<configure name="MAG_QMC5883L_I2C_DEV" value="i2c1"/>
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<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE"/>
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<define name="MODULE_QMC5883L_UPDATE_AHRS" value="FALSE"/>
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<define name="QMC5883L_CHAN_X" value="1"/>
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<define name="QMC5883L_CHAN_Y" value="0"/>
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<define name="QMC5883L_CHAN_Z" value="2"/>
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<define name="QMC5883L_CHAN_X_SIGN" value="-"/>
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<define name="QMC5883L_CHAN_Y_SIGN" value="+"/>
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<define name="QMC5883L_CHAN_Z_SIGN" value="+"/>
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</module>
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<module name="actuators" type="pwm"/>
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<module name="radio_control" type="sbus">
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<define name="RADIO_CONTROL_NB_CHANNEL" value="16"/>
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<configure name="SBUS_PORT" value="UART6"/>
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<define name="RADIO_GEAR" value="RADIO_AUX2"/>
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<define name="RADIO_FLAP" value="RADIO_AUX3"/>
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<define name="RADIO_HATCH" value="RADIO_AUX6"/>
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<define name="RADIO_MANUALRELEASE" value="RADIO_AUX6"/>
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<define name="RADIO_LIGHTS" value="RADIO_AUX2"/>
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</module>
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<module name="sys_mon"/>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="UART7"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</module>
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</target>
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<target name="sim" board="pc">
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<define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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<module name="radio_control" type="ppm"/>
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<define name="RADIO_GEAR" value="RADIO_AUX2"/>
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<define name="RADIO_FLAP" value="RADIO_AUX3"/>
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<define name="RADIO_MANUALRELEASE" value="RADIO_AUX6"/>
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<define name="RADIO_HATCH" value="RADIO_AUX6"/>
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<define name="RADIO_LIGHTS" value="RADIO_AUX3"/>
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<module name="telemetry" type="transparent"/>
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<module name="imu_nps"/>
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<module name="baro_sim"/>
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<module name="gps" type="ublox"/>
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</target>
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<define name="RADIO_CONTROL_AUTO1"/>
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<define name="AGR_CLIMB"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="SENSOR_SYNC_SEND"/>
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<configure name="USE_BARO_BOARD" value="FALSE"/>
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<define name="BAT_CHECKER_DELAY" value="80"/>
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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/>
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<define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B230400"/>
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<configure name="GPS_PORT" value="UART2"/>
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</module>
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<module name="ahrs" type="float_cmpl_quat">
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<configure name="AHRS_ALIGNER_LED" value="2"/>
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<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/>
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</module>
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<module name="ins" type="alt_float">
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</module>
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<module name="control" type="new"/>
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<module name="auto1_commands"/>
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<module name="geo_mag"/>
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<module name="air_data">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="FALSE"/>
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</module>
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<module name="navigation"/>
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<module name="nav" type="drop"/>
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<module name="nav" type="line"/>
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<module name="nav" type="line_border"/>
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<module name="nav" type="line_osam"/>
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<module name="nav" type="survey_polygon">
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<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/>
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</module>
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<module name="nav" type="survey_poly_osam"/>
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<module name="nav" type="smooth"/>
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<module name="nav" type="vertical_raster"/>
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<module name="nav" type="flower"/>
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<module name="photogrammetry_calculator"/>
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<module name="traffic_info"/>
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<module name="tcas"/>
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</firmware>
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<servos driver="Pwm">
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<servo name="S_THROTTLE" no="0" min="1098" neutral="1104" max="1900"/>
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<servo name="S_AILERON" no="1" min="1100" neutral="1500" max="1900"/>
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<servo name="S_RUDDERVATOR_LEFT" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="S_RUDDERVATOR_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
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<servo name="S_HATCH" no="4" min="1100" neutral="1110" max="1900"/>
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<servo name="S_ACL" no="5" min="1100" neutral="1500" max="1900"/>
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<servo name="S_TAIL_POS_LIGHT" no="6" min="1100" neutral="1500" max="1900"/>
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</servos>
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<section name="ServoPositions">
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<define name="LANDINGGEAR_EXTEND" value="MIN_PPRZ"/>
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<define name="LANDINGGEAR_RETRACT" value="MAX_PPRZ"/>
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<define name="FLAP_FULL" value="MIN_PPRZ"/>
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<define name="FLAP_HALF" value="MIN_PPRZ/2"/>
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<define name="FLAP_NONE" value="0"/>
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<define name="BEACON_ROTATE" value="MAX_PPRZ"/>
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<define name="BEACON_FLASH" value="0"/>
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<define name="BEACON_OFF" value="MIN_PPRZ"/>
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<define name="SERVO_BRAKE_FULL" value="MIN_PPRZ"/>
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<define name="SERVO_HATCH_OPEN" value="0"/>
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<define name="SERVO_HATCH_CLOSED" value="MIN_PPRZ"/>
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<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>MAX_PPRZ/2)"/>
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<define name="SPOILERON_BRAKE_FULL" value="MIN_PPRZ"/>
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<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
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</section>
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<section name="MIXER">
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<define name="ASSIST_ROLL_WITH_RUDDER" value="0.0"/>
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<define name="RUDDERVATOR_PITCH_FACTOR" value="1.0f"/>
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<define name="RUDDERVATOR_YAW_FACTOR" value="0.9f"/>
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</section>
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<command_laws>
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<set servo="S_THROTTLE" value="@THROTTLE"/>
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<set servo="S_AILERON" value="@ROLL"/>
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<set servo="S_RUDDERVATOR_LEFT" value="@PITCH+@YAW"/>
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<set servo="S_RUDDERVATOR_RIGHT" value="@PITCH-@YAW"/>
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<set servo="S_HATCH" value="(Or((autopilot.mode == AP_MODE_AUTO1), (autopilot.mode == AP_MODE_AUTO2)) ? MAX_PPRZ : @HATCH)"/>
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<set servo="S_ACL" value="((autopilot.mode == AP_MODE_AUTO2) ? MAX_PPRZ : @ACTIVELIGHTS)"/>
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<set servo="S_TAIL_POS_LIGHT" value="(Or((autopilot.mode == AP_MODE_AUTO1), (autopilot.mode == AP_MODE_AUTO2)) ? MAX_PPRZ : @ACTIVELIGHTS)"/>
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</command_laws>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="HATCH" value="@MANUALRELEASE"/>
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<set command="CLICKSHUTTER" value="@MANUALRELEASE"/>
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<set command="ACTIVELIGHTS" value="@LIGHTS"/>
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</rc_commands>
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<auto_rc_commands>
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<set command="YAW" value="@YAW*0.8"/>
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</auto_rc_commands>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="HATCH" failsafe_value="-9599"/>
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<axis name="CLICKSHUTTER" failsafe_value="-9599"/>
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<axis name="ACTIVELIGHTS" failsafe_value="0"/>
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</commands>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="75" unit="deg"/>
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<define name="MAX_PITCH" value="55" unit="deg"/>
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</section>
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<section name="TRIM" prefix="COMMAND_">
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<define name="ROLL_TRIM" value="0.0"/>
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<define name="PITCH_TRIM" value="0.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
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<define name="DEFAULT_GEAR" value="1100"/>
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<define name="DEFAULT_ROLL" value="5.0" unit="deg"/>
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<define name="DEFAULT_PITCH" value="-4.0" unit="deg"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.3+HOME_RADIUS" unit="m"/>
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<define name="DELAY_WITHOUT_GPS" value="4" unit="s"/>
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</section>
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<section name="IMU" prefix="IMU_">
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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="5.0" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
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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="0"/>
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</section>
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<section name="MAG_QMC" prefix="QMC5883L_">
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<define name="MAG_TO_IMU_PHI" value="0.0"/>
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<define name="MAG_TO_IMU_THETA" value="0.0"/>
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<define name="MAG_TO_IMU_PSI" value="0.0"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0.0"/>
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<define name="H_X" value="0.413671"/>
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<define name="H_Y" value="-0.013374"/>
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<define name="H_Z" value="0.910328"/>
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</section>
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<section name="INS">
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<define name="INS_BODY_TO_GPS_X" value="0.04" unit="m"/>
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<define name="INS_BODY_TO_GPS_Y" value="0.0" unit="m"/>
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<define name="INS_BODY_TO_GPS_Z" value="0.06" unit="m"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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<define name="USE_GPS_ALT" value="TRUE"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.8"/>
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<define name="COURSE_DGAIN" value="0.05"/>
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<define name="COURSE_TAU" value="0.7"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.99"/>
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<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="40" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-40" unit="deg"/>
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<define name="PITCH_PGAIN" value="6000"/>
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<define name="PITCH_DGAIN" value="80"/>
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<define name="PITCH_IGAIN" value="2"/>
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<define name="PITCH_KFFA" value="20."/>
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<define name="PITCH_KFFD" value="4."/>
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<define name="ELEVATOR_OF_ROLL" value="1550" unit="PPRZ_MAX"/>
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<define name="ROLL_SLEW" value="0.3"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
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<define name="ROLL_RATE_GAIN" value="400."/>
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<define name="ROLL_IGAIN" value="100."/>
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<define name="ROLL_KFFA" value="100"/>
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<define name="ROLL_KFFD" value="10"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.7" unit="volt"/>
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<define name="ALTITUDE_PGAIN" value="0.05"/>
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<define name="AUTO_CLIMB_LIMIT" value="1.7*V_CTL_ALTITUDE_MAX_CLIMB"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45" unit="%"/>
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85" unit="%"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.30" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.01" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.001"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.01" unit="rad/(m/s)"/>
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0." unit="rad"/>
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<define name="THROTTLE_SLEW_LIMITER" value="0.8" unit="m/s/s"/>
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<define name="AIRSPEED_MAX" value="18.0" unit="m/s"/>
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<define name="AIRSPEED_MIN" value="7.0" unit="m/s"/>
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<define name="PITCH_LOITER_TRIM" value="0.5" unit="deg"/>
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<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.8"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0.2"/>
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<define name="AIRSPEED_PGAIN" value="0.15"/>
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<define name="AUTO_AIRSPEED_PGAIN" value="0.18" unit="%/(m/s)"/>
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<define name="AUTO_AIRSPEED_IGAIN" value="0.2"/>
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<define name="ALTITUDE_MAX_CLIMB" value="2.0" unit="m/s"/>
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<define name="MAX_ACCELERATION" value="1.6" unit="G"/>
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<define name="AUTO_PITCH_PGAIN" value="0.015"/>
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<define name="AUTO_PITCH_DGAIN" value="0.01"/>
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<define name="AUTO_PITCH_IGAIN" value="0.001"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-30" unit="deg"/>
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<define name="ENERGY_TOT_PGAIN" value="0.30"/>
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<define name="ENERGY_TOT_IGAIN" value="0.25"/>
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<define name="ENERGY_DIFF_PGAIN" value="0.40"/>
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<define name="ENERGY_DIFF_IGAIN" value="0.15"/>
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<define name="GLIDE_RATIO" value="8."/>
|
||||
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.07"/>
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.01"/>
|
||||
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="30" unit="m"/>
|
||||
<define name="BLEND_END" value="10" unit="m"/>
|
||||
<define name="CLIMB_THROTTLE" value="0.85" unit="%"/>
|
||||
<define name="CLIMB_PITCH" value="45" unit="deg"/>
|
||||
<define name="DESCENT_THROTTLE" value="0.5" unit="%"/>
|
||||
<define name="DESCENT_PITCH" value="-45" unit="deg"/>
|
||||
<define name="CLIMB_NAV_RATIO" value="0.6" unit="%"/>
|
||||
<define name="DESCENT_NAV_RATIO" value="0.8" unit="%"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="160" unit="mA"/>
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="18000" unit="mA"/>
|
||||
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.01"/>
|
||||
<define name="MAX_BAT_CAPACITY" value="5500" unit="mAh"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.4" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10.0" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="7.8" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="16.0" unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="24.0" unit="m/s"/>
|
||||
<define name="CLIMB_AIRSPEED" value="11.0" unit="m/s"/>
|
||||
<define name="TRACKING_AIRSPEED" value="19.0" unit="m/s"/>
|
||||
<define name="GLIDE_AIRSPEED" value="10.0" unit="m/s"/>
|
||||
<define name="STALL_AIRSPEED" value="8.0" unit="m/s"/>
|
||||
<define name="RACE_AIRSPEED" value="21.0" unit="m/s"/>
|
||||
<define name="MIN_SPEED_FOR_TAKEOFF" value="10.0" unit="m/s"/>
|
||||
<define name="AIRSPEED_SETPOINT_SLEW" value="0.5" unit="m/s/s"/>
|
||||
|
||||
<define name="TAKEOFF_PITCH_ANGLE" value="20" unit="deg"/>
|
||||
<define name="FLARE_PITCH_ANGLE" value="6" unit="deg"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="1.0" unit="deg"/>
|
||||
|
||||
<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.3+HOME_RADIUS" unit="m"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="70.0" unit="m"/>
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="LANDING_CIRCLE_RADIUS" value="60.0" unit="m"/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="50.0" unit="m"/>
|
||||
|
||||
<define name="CARROT" value="4.0" unit="s"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_">
|
||||
<define name="FOCAL_LENGTH" value="2.5" unit="mm"/>
|
||||
<define name="SENSOR_WIDTH" value="2.304" unit="mm"/>
|
||||
<define name="SENSOR_HEIGHT" value="1.728" unit="mm"/>
|
||||
<define name="PIXELS_WIDTH" value="320"/>
|
||||
<define name="HEIGHT_MIN" value="20." unit="m"/>
|
||||
<define name="HEIGHT_MAX" value="120." unit="m"/>
|
||||
<define name="RADIUS_MIN" value="70." unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="GLS_APPROACH" prefix="APP_">
|
||||
<define name="DISTANCE_AF_SD" value="30" unit="m"/>
|
||||
<define name="ANGLE" value="4" unit="deg"/>
|
||||
<define name="INTERCEPT_AF_SD" value="50" unit="m"/>
|
||||
<define name="TARGET_SPEED" value="GLIDE_AIRSPEED*1.1" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Ziggy"/>
|
||||
<define name="AC_ICON" value="fixedwing"/>
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="50"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="10"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-10"/>
|
||||
</section>
|
||||
|
||||
<section name="TCAS" prefix="TCAS_">
|
||||
<define name="TAU_TA" value="6." unit="s"/>
|
||||
<define name="TAU_RA" value="4." unit="s"/>
|
||||
<define name="ALIM" value="12." unit="m"/>
|
||||
<define name="DMOD" value="14." unit="m"/>
|
||||
<define name="DT_MAX" value="1500" unit="ms"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_LAUNCHSPEED" value="NOMINAL_AIRSPEED" unit="m/s"/>
|
||||
<define name="WEIGHT" value="1."/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.0)"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.0)"/>
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.6"/>
|
||||
<define name="PITCH_RESPONSE_FACTOR" value="1.0"/>
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="20.0"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,86 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# matek_h743_wing.makefile
|
||||
#
|
||||
# This is for the Flight Controller Matek H743 WING
|
||||
# See http://www.mateksys.com/?portfolio=h743-wing for details
|
||||
#
|
||||
|
||||
BOARD=mateksys
|
||||
BOARD_VERSION=H743-WING
|
||||
BOARD_DIR=$(BOARD)/$(BOARD_VERSION)
|
||||
BOARD_CFG=\"arch/chibios/common_board.h\"
|
||||
|
||||
ARCH=chibios
|
||||
$(TARGET).ARCHDIR = $(ARCH)
|
||||
|
||||
RTOS=chibios
|
||||
MCU=cortex-m7
|
||||
|
||||
# FPU on H7
|
||||
USE_FPU=hard
|
||||
USE_FPU_OPT= -mfpu=fpv5-d16
|
||||
|
||||
USE_LTO ?= yes
|
||||
|
||||
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
|
||||
|
||||
##############################################################################
|
||||
# Architecture or project specific options
|
||||
#
|
||||
# Define project name here (target)
|
||||
PROJECT = $(TARGET)
|
||||
|
||||
# Project specific files and paths (see Makefile.chibios for details)
|
||||
CHIBIOS_BOARD_PLATFORM = STM32H7xx/platform.mk
|
||||
CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
|
||||
CHIBIOS_BOARD_LINKER = STM32H743xI_nobl_nc.ld
|
||||
CHIBIOS_BOARD_STARTUP = startup_stm32h7xx.mk
|
||||
|
||||
##############################################################################
|
||||
# Compiler settings
|
||||
#
|
||||
|
||||
# default flash mode is the DFU
|
||||
# possibilities: DFU-UTIL, SWD, PX4 bootloader
|
||||
FLASH_MODE ?= DFU-UTIL
|
||||
DFU_ADDR = 0x08000000
|
||||
PX4_TARGET = "ap"
|
||||
PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/matek_h743_slim.prototype"
|
||||
PX4_BL_PORT ?= "/dev/serial/by-id/*MatekH743*"
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
SDLOG_LED ?= none
|
||||
RADIO_CONTROL_LED ?= none
|
||||
BARO_LED ?= none
|
||||
AHRS_ALIGNER_LED ?= 2
|
||||
GPS_LED ?= none
|
||||
SYS_TIME_LED ?= 1
|
||||
|
||||
#
|
||||
# default UART configuration (modem, gps, spektrum)
|
||||
#
|
||||
SBUS_PORT ?= UART6
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
|
||||
|
||||
MODEM_PORT ?= UART7
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
#TELEM1 ?= MODEM_PORT
|
||||
#TELEM2 ?= UART1
|
||||
|
||||
GPS_PORT ?= UART2
|
||||
GPS_BAUD ?= B57600
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
# you can use different actuators by adding a configure option to your firmware section
|
||||
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
|
||||
# and by setting the correct "driver" attribute in servo section
|
||||
# e.g. <servo driver="Ppm">
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
|
||||
@@ -1,4 +1,15 @@
|
||||
<conf>
|
||||
<aircraft
|
||||
name="Ziggy"
|
||||
ac_id="121"
|
||||
airframe="airframes/OPENUAS/openuas_zohd_talon_nano.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/basic.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml] settings/control/ctl_new.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/photogrammetry_calculator.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="yellow"
|
||||
/>
|
||||
<aircraft
|
||||
name="Seal_EVO"
|
||||
ac_id="136"
|
||||
|
||||
Reference in New Issue
Block a user