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https://github.com/paparazzi/paparazzi.git
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Rotwing 25kg re-master (#3282)
* Rotwing 25kg * Fix wrong feedback from wing * fix typo * Fix sim * limit max pusher command --------- Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
302695ede3
commit
33b754bae0
@@ -54,13 +54,14 @@
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<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="0"/>
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<define name="RADIO_CONTROL_THRUST_X" value="0"/>
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<define name="RADIO_PARACHUTE" value="0"/>
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<define name="PREFLIGHT_CHECK_BYPASS" value="TRUE"/>
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</target>
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<!-- Herelink datalink -->
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="usb_serial"/>
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<!--configure name="MODEM_PORT" value="usb_serial"/-->
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<configure name="MODEM_BAUD" value="B460800"/>
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</module>
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@@ -81,29 +82,34 @@
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<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
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</module>
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<module name="air_data"/>
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<configure name="PRIMARY_GPS" value="ublox"/>
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<configure name="SECONDARY_GPS" value="ublox2"/>
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<module name="gps" type="ublox">
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<configure name="UBX_GPS_BAUD" value="B460800"/>
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<configure name="UBX_GPS_BAUD" value="B460800"/>
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<configure name="UBX2_GPS_BAUD" value="B460800"/>
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<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
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</module>
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<!-- IMU / INS -->
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<module name="imu" type="pixhawk6x"/>
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<module name="ins" type="ekf2">
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<!-- The Cube is mounted 25cm backwards of the CG -->
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<define name="INS_EKF2_IMU_POS_X" value="-0.25"/>
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<!-- The Cube is mounted 37cm forwards of the CG -->
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<define name="INS_EKF2_IMU_POS_X" value="0.37"/>
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<define name="INS_EKF2_IMU_POS_Y" value="0.0"/>
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<define name="INS_EKF2_IMU_POS_Z" value="0.0"/>
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<!-- The main GPS is mounted at the tail 1.44m backwards and 20cm above the CG -->
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<define name="INS_EKF2_GPS_POS_X" value="-1.44"/>
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<!-- The main GPS is mounted at the tail 1.44m backwards and 10cm above the CG -->
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<define name="INS_EKF2_GPS_POS_X" value="-1.28"/>
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<define name="INS_EKF2_GPS_POS_Y" value="0.0"/>
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<define name="INS_EKF2_GPS_POS_Z" value="0.2"/>
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<define name="INS_EKF2_GPS_POS_Z" value="0.1"/>
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</module>
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<!-- Actuators on dual CAN bus -->
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<module name="actuators" type="uavcan">
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<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
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<configure value="TRUE" name="UAVCAN_USE_CAN2"/>
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<define value="FALSE" name="UAVCAN_ACTUATORS_USE_CURRENT"/>
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</module>
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<!-- Rotation mechanism actuator on UART -->
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<module name="actuators" type="faulhaber"/>
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@@ -142,42 +148,42 @@
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<!-- Can bus 1 actuators -->
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<servos driver="Uavcan1">
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<servo no="0" name="MOTOR_FRONT" min="-3276" neutral="-2437" max="3605"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="1" name="MOTOR_RIGHT" min="-3276" neutral="-2437" max="3605"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="2" name="MOTOR_BACK" min="-3276" neutral="-2437" max="3605"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC is neutral -->
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<servo no="4" name="MOTOR_PUSH" min="-3276" neutral="-3276" max="3605"/> <!-- Supercan (1100-1940us) -->
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<!--servo no="8" name="AIL_RIGHT" min="-8000" neutral="-1000" max="5000"/>
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<servo no="9" name="FLAP_RIGHT" min="-8000" neutral="-1000" max="5000"/>
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<servo no="10" name="AIL_LEFT" min="-5000" neutral="1000" max="8000"/>
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<servo no="11" name="FLAP_LEFT" min="-5000" neutral="1000" max="8000"/>
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<servo no="12" name="PARACHUTE" min="-8191" neutral="0" max="8191"/-->
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<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC is neutral -->
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<servo no="4" name="BMOTOR_PUSH" min="-3276" neutral="-3276" max="3605"/> <!-- Supercan (1100-1940us) -->
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<servo no="5" name="BPARACHUTE" min="-8191" neutral="0" max="8191"/>
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</servos>
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<!-- CAN BUS 1 command outputs-->
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<servos driver="Uavcan1Cmd">
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<servo no="5" name="SERVO_ELEVATOR" min="-3250" neutral="0" max="3250"/>
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<servo no="6" name="SERVO_RUDDER" min="-3250" neutral="0" max="3250"/>
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<servo no="6" name="SERVO_ELEVATOR" min="-7300" neutral="-7300" max="4650"/> <!-- 2500 is level 4650 is 10deg -7300 is -50deg -->
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<servo no="7" name="SERVO_RUDDER" min="-4000" neutral="0" max="4000"/>
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<servo no="8" name="AIL_RIGHT" min="-3250" neutral="0" max="3250"/>
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<servo no="9" name="FLAP_RIGHT" min="-3250" neutral="0" max="3250"/>
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<servo no="10" name="AIL_LEFT" min="-3250" neutral="0" max="3250"/>
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<servo no="11" name="FLAP_LEFT" min="-3250" neutral="0" max="3250"/>
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</servos>
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<!-- Can bus 2 actuators -->
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<servos driver="Uavcan2">
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<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="3" name="BMOTOR_LEFT" min="-3276" neutral="-2437" max="3605"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="4" name="BMOTOR_PUSH" min="-3276" neutral="-3276" max="3605"/> <!-- Supercan (1100-1940us) -->
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<!--servo no="8" name="BAIL_RIGHT" min="-8000" neutral="-1000" max="5000"/>
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<servo no="9" name="BFLAP_RIGHT" min="-8000" neutral="-1000" max="5000"/>
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<servo no="10" name="BAIL_LEFT" min="-5000" neutral="1000" max="8000"/>
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<servo no="11" name="BFLAP_LEFT" min="-5000" neutral="1000" max="8000"/>
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<servo no="12" name="BPARACHUTE" min="-8191" neutral="0" max="8191"/-->
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<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/> <!-- T-Motor ESC -->
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<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/> <!-- Supercan (1100-1202.56-1940us) -->
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<servo no="4" name="MOTOR_PUSH" min="-3276" neutral="-3276" max="3605"/> <!-- Supercan (1100-1940us) -->
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<servo no="5" name="PARACHUTE" min="-8191" neutral="0" max="8191"/>
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</servos>
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<!-- CAN BUS 1 command outputs-->
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<servos driver="Uavcan2Cmd">
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<servo no="5" name="BSERVO_ELEVATOR" min="-3250" neutral="0" max="3250"/>
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<servo no="6" name="BSERVO_RUDDER" min="-3250" neutral="0" max="3250"/>
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<servo no="6" name="BSERVO_ELEVATOR" min="-7300" neutral="-7300" max="4650"/> <!-- 2500 is level 4650 is 10deg -7300 is -50deg -->
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<servo no="7" name="BSERVO_RUDDER" min="-4000" neutral="0" max="4000"/>
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<servo no="8" name="BAIL_RIGHT" min="-3250" neutral="0" max="3250"/>
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<servo no="9" name="BFLAP_RIGHT" min="-3250" neutral="0" max="3250"/>
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<servo no="10" name="BAIL_LEFT" min="-3250" neutral="0" max="3250"/>
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<servo no="11" name="BFLAP_LEFT" min="-3250" neutral="0" max="3250"/>
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</servos>
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<servos driver="Faulhaber">
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@@ -194,9 +200,10 @@
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<command_laws>
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<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
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<let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
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<let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
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<let var="rc_motors_off" value="Or(LessThan(RadioControlValues(RADIO_KILL_SWITCH), -4800), MoreThan(RadioControlValues(RADIO_PARACHUTE), 4800))"/>
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<let var="th_hold" value="Or($rc_motors_off, !autopilot_get_motors_on())"/>
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<let var="servo_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
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<let var="hover_off" value="Or($th_hold, bool_disable_hover_motors)"/>
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<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
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<!-- Main bus -->
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@@ -211,7 +218,7 @@
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<set servo="FLAP_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
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<set servo="AIL_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
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<set servo="FLAP_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
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<set servo="PARACHUTE" value="RadioControlValues(RADIO_AUX6)"/-->
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<set servo="PARACHUTE" value="RadioControlValues(RADIO_PARACHUTE)"/>
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<!-- Second bus -->
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<set servo="BMOTOR_FRONT" value="($hover_off? -9600 : actuators_pprz[0])"/>
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@@ -225,7 +232,7 @@
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<set servo="BFLAP_RIGHT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
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<set servo="BAIL_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
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<set servo="BFLAP_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
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<set servo="BPARACHUTE" value="RadioControlValues(RADIO_AUX6)"/-->
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<set servo="BPARACHUTE" value="RadioControlValues(RADIO_PARACHUTE)"/>
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<!-- Rotation mechanism -->
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<set servo="ROTATION_MECH" value="rotwing_state_skewing.servo_pprz_cmd"/>
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@@ -238,7 +245,7 @@
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<define name="AUTO_DOUBLETS_N_ACTUATORS" value="4"/>
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<define name="AUTO_DOUBLETS_ACTUATORS" value="{0,1,2,3}"/>
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<define name="AUTO_DOUBLETS_AMPLITUDE" value="{1500,1500,1500,1500}"/>
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<define name="AUTO_DOUBLETS_AMPLITUDE" value="{1500,1000,1500,1000}"/>
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<define name="AUTO_DOUBLETS_TIME" value="1.0"/>
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<define name="AUTO_DOUBLETS_INTERVAL" value="3.0"/>
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@@ -249,22 +256,22 @@
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</section>
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<section name="CTRL_EFF_SHED" prefix="ROT_WING_EFF_SCHED_">
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<define name="IXX_BODY" value="0.2845"/>
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<define name="IYY_BODY" value="5.078"/>
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<define name="IZZ" value="7.051"/>
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<define name="IXX_WING" value="0.712"/>
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<define name="IYY_WING" value="1.77"/>
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<define name="M" value="25.5"/>
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<define name="IXX_BODY" value="0.3953"/>
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<define name="IYY_BODY" value="8.472"/>
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<define name="IZZ" value="10.18"/>
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<define name="IXX_WING" value="0.5385"/>
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<define name="IYY_WING" value="1.671"/>
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<define name="M" value="23.66"/>
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<define name="DM_DPPRZ_HOVER_PITCH" value="0.00925"/>
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<define name="DM_DPPRZ_HOVER_ROLL" value="{0.0085, 0}"/>
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<define name="DM_DPPRZ_HOVER_PITCH" value="0.01326745"/>
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<define name="DM_DPPRZ_HOVER_ROLL" value="{77.768,0.0}"/>
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<define name="HOVER_ROLL_PITCH_COEF" value="{0.015, -0.011}"/>
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<define name="HOVER_ROLL_PITCH_COEF" value="{0.01994434, -0.00885004}"/>
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<define name="HOVER_ROLL_ROLL_COEF" value="{0.0, -0.0}"/>
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<define name="K_ELEVATOR" value="{ 1.27655, -13.3525, -96.0}"/>
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<define name="K_RUDDER" value="{-72.5037, -0.9329, -3.23651}"/>
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<define name="K_AILERON" value="2.777647188"/>
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<define name="K_AILERON" value="5.0"/>
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<define name="K_FLAPERON" value="2.0439"/>
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<define name="K_PUSHER" value="{0.027775,-2.41146}"/>
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@@ -290,13 +297,13 @@
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<define name="NAV_CLIMB_VSPEED" value="2.0" />
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<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
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<define name="NAV_CARROT_DIST" value="200"/>
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<!-- prevent in-flight in start engine block-->
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
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<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
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<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
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<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
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<define name="USE_AIRSPEED" value="TRUE"/>
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<define name="NAV_HYBRID_MAX_DECELERATION" value="0.5"/>
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<define name="MULTI_GPS_MODE" value="GPS_MODE_PRIMARY"/>
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</section>
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<section name="GROUND_DETECT">
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@@ -310,9 +317,53 @@
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-3,3,13}, .scale={{15146,60067,2567},{1551,6124,263}}, .filter_sample_freq=1138.7, .filter_freq=30}, {.abi_id=22, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-26,9,2}, .scale={{32863,18346,55169},{6721,3745,11294}}, .filter_sample_freq=1139.3, .filter_freq=30}}"/>
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<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={-96,-95,-292}, .scale={{33136,8709,8764},{59233,15343,15761}}}}"/> <!-- Calibrated 't Harde 17-08-2023 -->
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<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1138.7, .filter_freq=30}, {.abi_id=22, .calibrated={.filter=true}, .filter_sample_freq=1139.3, .filter_freq=30}}"/>
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<!-- Magnetometers calibration (08-04-2024 @ Valkenburg) -->
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<define name="MAG_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="5"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="true"/>
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<field name="scale" value="true"/>
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<field name="rotation" value="true"/>
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</field>
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<field name="neutral" value="95,217,-115" type="int[]"/>
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<field name="scale" value="{{29417,8274,1853},{49873,15133,3195}}"/>
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<field name="body_to_sensor" value="{{0,-16384,0, -16384,0,0, 0,0,-16384}}"/>
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</field>
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</define>
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<!-- Accelerometers calibration -->
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<define name="ACCEL_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="26"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="false"/>
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<field name="scale" value="false"/>
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<field name="rotation" value="false"/>
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<field name="filter" value="true"/>
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</field>
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<field name="filter_sample_freq" value="4042"/>
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<field name="filter_freq" value="30"/>
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</field>
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</define>
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<!-- Gyrometer calibration -->
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<define name="GYRO_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="26"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="false"/>
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<field name="scale" value="false"/>
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<field name="rotation" value="false"/>
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<field name="filter" value="true"/>
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</field>
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<field name="filter_sample_freq" value="4042"/>
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<field name="filter_freq" value="30"/>
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</field>
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</define>
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<!-- High speed IMU logging for debugging only -->
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<!--define name="LOG_HIGHSPEED" value="TRUE"/-->
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<!-- Define axis in hover frame -->
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<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
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@@ -320,19 +371,13 @@
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="MAG_RM3100" prefix="RM3100_">
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<define name="MAG_TO_IMU_PHI" value="-90.0"/>
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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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- Limits -->
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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="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
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<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
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<!-- Reference model -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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@@ -378,9 +423,9 @@
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<define name="G2" value="{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
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<!-- Actuator dynamics -->
|
||||
<define name="ACT_FREQ" value="{12.1, 12.1, 12.1, 12.1, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
|
||||
<define name="ACT_IS_SERVO" value="{ 0, 0, 0, 0, 1, 1, 1, 1, 0}"/>
|
||||
<define name="ACT_IS_THRUSTER_X" value="{ 0, 0, 0, 0, 0, 0, 0, 0, 1}" />
|
||||
<define name="ACT_FREQ" value="{13.68, 13.68, 13.68, 13.68, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
|
||||
<define name="ACT_IS_SERVO" value="{ 0, 0, 0, 0, 1, 1, 1, 1, 0}"/>
|
||||
<define name="ACT_IS_THRUSTER_X" value="{ 0, 0, 0, 0, 0, 0, 0, 0, 1}" />
|
||||
|
||||
<define VALUE="{1000, 1000, 1, 100, 100}" NAME="WLS_PRIORITIES"/>
|
||||
<define VALUE="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}" NAME="WLS_WU"/>
|
||||
@@ -400,9 +445,9 @@
|
||||
<define name="MAX_R" value="30.0" unit="deg/s"/>
|
||||
|
||||
<!-- Filters -->
|
||||
<define name="FILTER_RATES_SECOND_ORDER" value="TRUE" />
|
||||
<define name="FILT_CUTOFF_P" value="10.0"/>
|
||||
<define name="FILT_CUTOFF_Q" value="10.0"/>
|
||||
<define name="FILTER_RATES_SECOND_ORDER" value="FALSE" />
|
||||
<define name="FILT_CUTOFF_P" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_Q" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="5.0"/>
|
||||
<define name="FILT_CUTOFF" value="2.0"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="2.0"/>
|
||||
@@ -456,15 +501,17 @@
|
||||
<define name="SPEED_GAINZ" value="0.6"/>
|
||||
|
||||
<!-- Other -->
|
||||
<define name="FILTER_CUTOFF" value="2.5"/>
|
||||
<define name="FILTER_CUTOFF" value="2.0"/>
|
||||
<define name="HEADING_BANK_GAIN" value="5."/>
|
||||
<define name="MAX_AIRSPEED" value="19.0"/>
|
||||
<define name="MAX_AIRSPEED" value="25.0"/>
|
||||
<define name="PITCH_LIFT_EFF" value="0.0"/>
|
||||
<define name="ZERO_AIRSPEED" value="TRUE"/>
|
||||
<define name="ZERO_AIRSPEED" value="FALSE"/>
|
||||
|
||||
<define name="THRUST_Z_EFF" value="-0.0023"/>
|
||||
<define name="THRUST_X_EFF" value="0.00055"/>
|
||||
|
||||
<define name="MAX_PUSHER_INCREMENT" value="2000"/>
|
||||
|
||||
<define name="NAV_CIRCLE_DIST" value="60."/>
|
||||
<define name="NAV_LINE_DIST" value="100"/>
|
||||
<define name="LINE_GAIN" value="0.2"/>
|
||||
@@ -523,7 +570,9 @@
|
||||
<item name="goal" type="text">Goal of the flight</item>
|
||||
<item name="basic law">Location, airspace and weather</item>
|
||||
<item name="RC Battery">Check the RC battery</item>
|
||||
<item name="wings">Check wings secured (and taped)</item>
|
||||
<item name="attitude">Check attitude and heading</item>
|
||||
<item name="airspeed">Calibrate airspeed sensor</item>
|
||||
<item name="takeoff location">Put UAV on take-off location</item>
|
||||
<item name="flight plan">Check flight plan</item>
|
||||
<item name="flight block">Switch to correct flight block</item>
|
||||
|
||||
@@ -9,10 +9,10 @@
|
||||
<waypoint name="begin_trans" x="300." y="90."/>
|
||||
<waypoint name="end_trans" x="300." y="120."/>
|
||||
<waypoint name="STDBY" x="60" y="20"/>
|
||||
<!-- <waypoint name="p1" x="65" y="75"/>
|
||||
<waypoint name="p1" x="65" y="75"/>
|
||||
<waypoint name="p2" x="200" y="120"/>
|
||||
<waypoint name="p3" x="250" y="-30"/>
|
||||
<waypoint name="p4" x="120" y="-75"/> -->
|
||||
<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"/>
|
||||
@@ -92,6 +92,8 @@
|
||||
<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 -->
|
||||
|
||||
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Climb">
|
||||
@@ -112,6 +114,26 @@
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_FREE)"/>
|
||||
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="stay_p1">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay wp="p1"/>
|
||||
</block>
|
||||
<block name="stay_p2">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay wp="p2"/>
|
||||
</block>
|
||||
<block name="p1_p2">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<go wp="p1"/>
|
||||
<stay until="stage_time>5" wp="p1"/>
|
||||
<go wp="p2"/>
|
||||
<stay until="stage_time>5" wp="p2"/>
|
||||
<deroute block="p1_p2"/>
|
||||
</block>
|
||||
<!-- <block name="Standby_fwd">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
|
||||
<stay wp="STDBY" 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"/>
|
||||
|
||||
@@ -4,6 +4,13 @@
|
||||
<doc>
|
||||
<description>
|
||||
Actuators Driver for the Faulhaber controller
|
||||
Currently initialization is done manually.
|
||||
Set mode to:
|
||||
- 2
|
||||
- 4
|
||||
- 2 (it will home slowly)
|
||||
- Wait until homing is finished!
|
||||
- Back to 1 and the wing will move
|
||||
</description>
|
||||
<configure name="FAULHABER_DEV" value="UARTX" description="UART port (default UART4)"/>
|
||||
</doc>
|
||||
|
||||
@@ -546,7 +546,7 @@
|
||||
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/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"
|
||||
settings_modules="modules/actuators_faulhaber.xml 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/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/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
|
||||
@@ -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/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"
|
||||
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/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
|
||||
@@ -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/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"
|
||||
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
|
||||
@@ -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/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"
|
||||
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
|
||||
@@ -590,7 +590,7 @@
|
||||
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/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"
|
||||
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
|
||||
|
||||
@@ -245,11 +245,8 @@
|
||||
<arg flag="-udp"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GCS">
|
||||
<arg flag="-speech"/>
|
||||
<arg flag="-layout" constant="bottom_settings.xml"/>
|
||||
</program>
|
||||
<program name="Messages"/>
|
||||
<program name="PprzGCS"/>
|
||||
</session>
|
||||
<session name="Flight UDP Optitrack + Joystick">
|
||||
<program name="Data Link">
|
||||
|
||||
Reference in New Issue
Block a user