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[nps] load aircraft into gazebo at run time + actuator handling (#2135)

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* load aircraft into gazebo at run time + actuator handling

* Remove environment from airframe
This commit is contained in:
Kirk Scheper
2017-10-26 14:36:38 +02:00
committed by GitHub
parent 66821d37ac
commit 3bf4b8731d
18 changed files with 750 additions and 191 deletions
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conf/airframes/KS/kirk_conf.xml
+1 -1
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
gui_color="#ffff00000000"
/>
<aircraft
conf/airframes/KS/ks_bebop2_stereo.xml
+40 -37
View File
@@ -3,7 +3,13 @@
<airframe name="bebop2_opticflow">
<firmware name="rotorcraft">
<target name="ap" board="bebop2"/>
<target name="ap" board="bebop2">
<module name="stabilization" type="indi_simple"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
<module name="stabilization" type="int_quat"/>
</target>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
@@ -11,19 +17,15 @@
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</module>
<module name="ins" type="extended"/>
<module name="ins" type="hff_extended"/>
<module name="stereocam">
<configure name="STEREO_UART" value="UART2"/>
<define name="STEREO_BODY_TO_STEREO_PHI" value="90."/>
<define name="STEREO_BODY_TO_STEREO_THETA" value="0."/>
<define name="STEREO_BODY_TO_STEREO_PSI" value="90."/>
</module>
</firmware>
@@ -57,11 +59,11 @@
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="FALSE"/>
<section name="stereocam" prefix="STEREO_">
<define name="BODY_TO_STEREO_PHI" value="90." unit="deg"/>
<define name="BODY_TO_STEREO_THETA" value="0." unit="deg"/>
<define name="BODY_TO_STEREO_PSI" value="90." unit="deg"/>
</section>
<!-- Magnetometer still needs to be calibrated -->
@@ -78,8 +80,7 @@
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
<!--define name="GRAVITY_HEURISTIC_FACTOR" value="0"/-->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
@@ -91,10 +92,6 @@
<!-- trust GPS a lot: -->
<define name="VFF_R_GPS" value="0.01"/>
<define name="VFF_VZ_R_GPS" value="0.01"/>
<define name="SONAR_MIN_RANGE" value="0.0"/>
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="FALSE"/>
</section>
@@ -124,6 +121,24 @@
<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.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="850"/>
<define name="PHI_DGAIN" value="425"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="850"/>
<define name="THETA_DGAIN" value="425"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="700"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="100"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
@@ -149,14 +164,7 @@
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<!-- old?
<define name="FILT_OMEGA" value="20.0"/>
<define name="FILT_ZETA" value="0.7"/>
<define name="FILT_OMEGA_R" value="20.0"/>
<define name="FILT_ZETA_R" value="0.7"/>
-->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
@@ -175,12 +183,6 @@
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.52"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<!-- old?
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.55"/>
<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.48"/>
<define name="ADAPT_MAX_HOVER_THROTTLE" value="0.62"/>
<define name="ADAPT_NOISE_FACTOR" value="0.8"/>
-->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
@@ -200,6 +202,13 @@
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="GAZEBO_AC_NAME" value="simple_x_quad" type="string"/>
<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="double[]"/>
<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="double[]"/>
<!--define name="DEBUG_STEREOCAM" value="1"/-->
<!--define name="NO_GPS" value="1"/-->
</section>
<section name="AUTOPILOT">
@@ -208,12 +217,6 @@
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<!--
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<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_ATTITUDE_DIRECT"/>
-->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
conf/airframes/TUDELFT/tudelft_conf.xml
+2 -2
View File
@@ -249,7 +249,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
@@ -360,7 +360,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
<aircraft
conf/airframes/TUDELFT/tudelft_ladybird_lisa_mxs.xml
+79 -89
View File
@@ -1,6 +1,5 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
The motor and rotor configuration is the following:
@@ -24,7 +23,48 @@
<airframe name="quadrotor_lisa_mxs">
<description>LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration.
</description>
<firmware name="rotorcraft">
<target name="ap" board="lisa_mxs_1.0">
<define name="REMAP_UART3" value="TRUE" />
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
</target>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="radio_control" type="datalink"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART2"/>
<configure name="GPS_BAUD" value="B38400"/>
</module>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="air_data">
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
</module>
<module name="send_imu_mag_current"/>
</firmware>
<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="5" min="0" neutral="50" max="1000"/>
@@ -39,25 +79,20 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="SE" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="SW" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
<set servo="NW" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -82,24 +117,7 @@
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
@@ -162,69 +180,41 @@
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
<define name="PROPAGATE_FREQUENCY" value="500"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="39"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="19"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="39"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="19"/>
</section>
<section name="MISC">
<define name="VoltageOfAdc(adc)" value="(adc)*0.00162f" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="GAZEBO_AC_NAME" value="simple_x_quad" type="string"/>
<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="double[]"/>
<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="double[]"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_mxs_1.0">
<define name="REMAP_UART3" value="TRUE" />
<module name="radio_control" type="datalink"/>
<!--module name="radio_control" type="spektrum">
<configure name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="UART5" />
</module-->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART2"/>
<configure name="GPS_BAUD" value="B38400"/>
</module>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="air_data">
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
</module>
</firmware>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
</airframe>