mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 22:05:58 +08:00
[conf] add untested/unfinished airframe for pixhawk lite
This commit is contained in:
Felix Ruess
@@ -0,0 +1,249 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame equiped with
|
||||
* Autopilot: Pixhawk Lite 2 https://pixhawk.ethz.ch/px4/modules/px4fmu
|
||||
* IMU: MPU6000 + HMC5883 https://pixhawk.ethz.ch/px4/modules/px4fmu
|
||||
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM_Supervision
|
||||
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
|
||||
* RC: PPM http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#PPM
|
||||
-->
|
||||
|
||||
<airframe name="Quadrotor Pixhawk Lite">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="px4fmu_2.4"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="mpu6000">
|
||||
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
|
||||
</subsystem>
|
||||
<subsystem name="ins"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="test_progs">
|
||||
<target name="test_sys_time_timer" board="px4fmu_2.4">
|
||||
<configure name="SYS_TIME_LED" value="none"/>
|
||||
<configure name="LED_DEFINES" value="-DLED_RED=1"/>
|
||||
</target>
|
||||
<target name="test_sys_time_usleep" board="px4fmu_2.4">
|
||||
<configure name="SYS_TIME_LED" value="none"/>
|
||||
<configure name="LED_DEFINES" value="-DLED_GREEN=1"/>
|
||||
</target>
|
||||
<target name="test_telemetry" board="px4fmu_2.4">
|
||||
<configure name="SYS_TIME_LED" value="none"/>
|
||||
<!--configure name="MODEM_PORT" value="UART3"/-->
|
||||
<define name="UART_TX_LED" value="1"/>
|
||||
<!--configure name="MODEM_BAUD" value="B9600"/-->
|
||||
</target>
|
||||
<target name="test_imu" board="px4fmu_2.4">
|
||||
<subsystem name="imu" type="mpu6000">
|
||||
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
|
||||
</subsystem>
|
||||
<!--subsystem name="imu" type="px4fmu_v2.4"/-->
|
||||
<configure name="PERIODIC_FREQUENCY" value="60"/>
|
||||
</target>
|
||||
<target name="test_actuators_pwm" board="px4fmu_2.4">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</target>
|
||||
<target name="test_actuators_pwm_sin" board="px4fmu_2.4">
|
||||
</target>
|
||||
<target name="test_baro_board" board="px4fmu_2.4">
|
||||
<configure name="BARO_LED" value="5"/>
|
||||
</target>
|
||||
<target name="test_adc" board="px4fmu_2.4"/>
|
||||
<target name="test_uart" board="px4fmu_2.4">
|
||||
<define name="USE_UART2"/>
|
||||
<define name="UART2_BAUD" value="B57600"/>
|
||||
<define name="USE_UART3"/>
|
||||
<define name="UART3_BAUD" value="B57600"/>
|
||||
</target>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="sys_mon.xml"/>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FRONT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="BACK" no="1" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="LEFT" no="3" min="1000" neutral="1100" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- front (CW), right (CCW), back (CW), left (CCW) -->
|
||||
<define name="TYPE" value="QUAD_PLUS"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_RIGHT]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[MOTOR_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-179"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-21"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="79"/>
|
||||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Toulouse -->
|
||||
<define name="H_X" value="0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value="0.858336"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
<define name="DEADBAND_P" value="20"/>
|
||||
<define name="DEADBAND_Q" value="20"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
<define name="REF_TAU" value="4"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
<define name="IGAIN_P" value="75"/>
|
||||
<define name="IGAIN_Q" value="75"/>
|
||||
<define name="IGAIN_R" value="50"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="DDGAIN_P" value="300"/>
|
||||
<define name="DDGAIN_Q" value="300"/>
|
||||
<define name="DDGAIN_R" value="300"/>
|
||||
</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"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="1000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user