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https://github.com/paparazzi/paparazzi.git
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[conf] Added Iris. Iris_chibios and Lia chibios tests
This commit is contained in:
Michal Podhradsky
@@ -0,0 +1,238 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Quadrotor Lia pwm">
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<firmware name="rotorcraft">
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<target name="ap" board="lia_1.1_chibios">
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART5"/>
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</module>
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</target>
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<configure name="PERIODIC_FREQUENCY" value="160"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="spektrum"/>
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<!--configure name="USE_HITL" value="1"/-->
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<configure name="INS_DEV" value="/dev/ttyUSB1"/>
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<configure name="INS_BAUD" value="B921600"/>
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<configure name="AP_DEV" value="/dev/ttyUSB2"/>
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<configure name="AP_BAUD" value="B921600"/>
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</target>
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<module name="stabilization" type="int_quat"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="PERIODIC_FREQUENCY"/>
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</module>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="UART3"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</module>
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<module name="ins" type="vectornav">
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<configure name="VN_PORT" value="UART2"/>
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<configure name="VN_BAUD" value="B921600"/>
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</module>
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<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
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</firmware>
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<modules>
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<module name="sys_mon"/>
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<module name="extra_dl">
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<!-- in order to use uart1 without chibios we need to remap the peripheral-->
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<define name="REMAP_UART1" value="TRUE"/>
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<configure name="EXTRA_DL_PORT" value="UART1"/>
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<configure name="EXTRA_DL_BAUD" value="B921600"/>
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</module>
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<module name="lidar_lite">
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<configure name="LIDAR_LITE_I2C_DEV" value="i2c2"/>
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</module>
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<module name="battery_monitor.xml">
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<define name="BATMON_CURRENT_OFFSET" value="-120"/>
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<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
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<define name="BATMON_TEMP_OFFSET" value="250"/>
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<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
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</module>
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</modules>
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<servos driver="Pwm">
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<servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
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<servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
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<servo name="BR" no="2" min="1000" neutral="1100" max="1900"/>
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<servo name="BL" no="3" min="1000" neutral="1100" max="1900"/>
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</servos>
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<commands>
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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="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="140" unit="deg/s"/>
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<define name="SP_MAX_Q" value="140" unit="deg/s"/>
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<define name="SP_MAX_R" value="140" unit="deg/s"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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<define name="GAIN_P" value="800"/>
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<define name="GAIN_Q" value="800"/>
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<define name="GAIN_R" value="700"/>
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<define name="IGAIN_P" value="240"/>
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<define name="IGAIN_Q" value="240"/>
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<define name="IGAIN_R" value="160"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="1000"/>
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<define name="PHI_DGAIN" value="400"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="1000"/>
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<define name="THETA_DGAIN" value="400"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="500"/>
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<define name="PSI_DGAIN" value="300"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="300"/>
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<define name="THETA_DDGAIN" value="300"/>
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<define name="PSI_DDGAIN" value="300"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_THROTTLE" value="0"/>
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<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
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<define name="JS_AXIS_ROLL" value="1"/>
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<define name="JS_AXIS_PITCH" value="2"/>
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<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
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<define name="JS_AXIS_YAW" value="3"/>
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<define name="JS_AXIS_YAW_REVERSED" value="1"/>
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<define name="JS_AXIS_MODE" value="7"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<!-- Flight values -->
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<!--
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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-->
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<!-- Simulator values -->
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<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
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<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
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</section>
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</airframe>
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@@ -10,6 +10,17 @@
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settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="#ffff954c0000"
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/>
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<aircraft
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name="Ark_Quad_Lia"
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ac_id="4"
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airframe="airframes/AGGIEAIR/aggieair_ark_quad_lia.xml"
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radio="radios/AGGIEAIR/aggieair_taranis.xml"
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telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="#ffff954c0000"
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/>
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<aircraft
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name="ECU"
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ac_id="3"
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@@ -12,7 +12,7 @@
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<firmware name="rotorcraft">
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<target name="ap" board="px4fmu_2.4" />
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<target name="ap" board="px4fmu_2.4_chibios" />
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<!-- amount of time it take for the bat to check -->
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<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
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@@ -115,7 +115,7 @@
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<modules main_freq="512">
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<!-- allow flashing FBW target through AP -->
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<module name="px4_flash"/>
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<!--module name="px4_flash"/-->
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<!-- CPU utilization monitor -->
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<module name="sys_mon"/>
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@@ -65,6 +65,28 @@
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settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="white"
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/>
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<aircraft
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name="Iris"
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ac_id="67"
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airframe="airframes/TUDELFT/tudelft_iris_indi.xml"
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radio="radios/FrSky3dr.xml"
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telemetry="telemetry/default_rotorcraft_slow.xml"
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flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="[modules/air_data.xml] modules/geo_mag.xml 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_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
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gui_color="#ffffcccaccca"
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/>
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<aircraft
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name="Iris_chibios"
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ac_id="66"
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airframe="airframes/AGGIEAIR/aggieair_iris_indi.xml"
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radio="radios/AGGIEAIR/aggieair_FrSky3dr.xml"
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telemetry="telemetry/AGGIEAIR/aggieair_iris.xml"
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flight_plan="flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml"
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settings="settings/rotorcraft_basic.xml [settings/test_actuators_pwm.xml]"
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settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
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gui_color="#337e387bffff"
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/>
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<aircraft
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name="JP"
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ac_id="6"
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@@ -241,6 +263,17 @@
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settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_float_cmpl_rmat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="white"
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/>
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<aircraft
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name="Quad_Lia_chibios"
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ac_id="68"
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airframe="airframes/AGGIEAIR/aggieair_ark_quad_lia.xml"
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radio="radios/AGGIEAIR/aggieair_taranis.xml"
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telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="#ffff954c0000"
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/>
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<aircraft
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name="Quad_LisaMX"
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ac_id="21"
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