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[hybrid] add basic support for Heewing T1 Ranger VTOL (#3464)
The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach, two separated controls are used for hovering (INDI) and forward flight (PID). The mixing is done by a dedicated module and the autopilot is customized to support the specific modes. A simple PID controller is added to the rotorcraft firmware as it is not possible to directly reuse the one from fixedwing firmware. In a future work, a full INDI version might be used, but this approach can still serves as an example of customized autopilot. A simulation model for JSBSim is also provided.
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
982c6947a3
commit
4b6c185516
@@ -0,0 +1,356 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="RANGER_T1">
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<description>
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HEEWING Ranger T1
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Hybrid Quad/Plane with tilt motors
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Tawaki v1.0 Chibios
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Xbee API
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Ublox
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SBUS Futaba
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</description>
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<firmware name="rotorcraft">
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<autopilot name="heewing_vtol"/>
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<target name="ap" board="tawaki_2.0">
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<module name="radio_control" type="sbus">
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<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
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</module>
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<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
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</target>
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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="datalink"/>
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<define name="TAWAKIV2_IMU_ROT" value=""/>
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<define name="TAWAKIV2_MAG_ROT" value=""/>
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</target>
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<module name="telemetry" type="xbee_api"/>
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<module name="sys_mon"/>
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<module name="flight_recorder"/>
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<module name="logger" type="control_effectiveness">
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<define name="LOGGER_CONTROL_EFFECTIVENESS_COMMANDS" value="TRUE"/>
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<define name="LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS" value="TRUE"/>
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<define name="LOGGER_CONTROL_EFFECTIVENESS_POS" value="TRUE"/>
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<define name="LOGGER_CONTROL_EFFECTIVENESS_SPEED" value="TRUE"/>
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<define name="LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED" value="TRUE"/>
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</module>
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<module name="shell">
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<configure name="SHELL_PORT" value="uart3"/>
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</module>
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<module name="actuators" type="pwm">
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<define name="USE_PWM_TIM3" value="TRUE"/>
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<define name="USE_PWM5" value="TRUE"/>
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<define name="USE_PWM6" value="TRUE"/>
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<define name="USE_PWM7" value="TRUE"/>
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<define name="USE_PWM8" value="TRUE"/>
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</module>
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<!--Use an airspeed sensor and get the measured airspeed in the messages-->
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<module name="airspeed" type="sdp3x">
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<define name="SDP3X_i2C_DEV" value="i2c2"/>
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<define name="SDP3X_PRESSURE_SCALE" value="16.0"/>
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<define name="SDP3X_PRESSURE_OFFSET" value="-0.1"/>
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<define name="USE_AIRSPEED_SDP3X" value="TRUE"/>
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</module>
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<module name="board" type="tawaki_2.0"/>
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<!--configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/-->
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<module name="mag" type="rm3100">
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<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/>
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<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
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<!--define name="MODULE_RM3100_SYNC_SEND" value="TRUE"/-->
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<define name="RM3100_CHAN_X" value="1"/>
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<define name="RM3100_CHAN_Y" value="0"/>
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<define name="RM3100_CHAN_X_SIGN" value="-"/>
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</module>
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<module name="air_data">
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<!--define name="USE_AIRSPEED_AIR_DATA" value="TRUE"/-->
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</module>
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<module name="stabilization" type="indi">
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<configure name="INDI_NUM_ACT" value="4"/> <!-- only rotorcraft part for now -->
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<define name="WLS_N_U_MAX" value = "8"/>
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<define name="WLS_N_V_MAX" value = "4"/>
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</module>
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<module name="guidance" type="indi"/>
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<module name="nav" type="hybrid"/>
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<module name="ins" type="ekf2">
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</module>
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<!--module name="ins"/>
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<module name="ahrs" type="int_cmpl_quat"/-->
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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<define name="GPS_FIX_TIMEOUT" value="0.5"/>
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</module>
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<module name="power_switch"/>
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</firmware>
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<servos driver="Pwm">
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<servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1100" max="1800"/>
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<servo name="MOTOR_LEFT" no="5" min="1000" neutral="1100" max="1800"/>
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<servo name="MOTOR_TAIL" no="7" min="1000" neutral="1100" max="1800"/>
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<servo name="AILERON_RIGHT" no="8" min="1800" neutral="1550" max="1200"/>
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<servo name="AILERON_LEFT" no="3" min="1800" neutral="1450" max="1200"/>
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<servo name="ELEVATOR" no="4" min="1100" neutral="1500" max="1900"/>
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<servo name="TILT_RIGHT" no="2" min="900" neutral="900" max="2000"/>
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<servo name="TILT_LEFT" no="1" min="2000" neutral="2000" max="900"/>
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</servos>
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<commands>
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<axis name="MOTOR_RIGHT" group="REAL" failsafe_value="-9600"/>
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<axis name="MOTOR_LEFT" group="REAL" failsafe_value="-9600"/>
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<axis name="MOTOR_TAIL" group="REAL" failsafe_value="-9600"/>
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<axis name="PITCH" group="VIRTUAL" failsafe_value="0"/>
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<axis name="ROLL" group="VIRTUAL" failsafe_value="0"/>
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<axis name="YAW" group="VIRTUAL" failsafe_value="0"/>
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<axis name="THRUST" group="VIRTUAL" failsafe_value="0"/>
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<axis name="TILT" group="VIRTUAL" failsafe_value="0"/>
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</commands>
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<command_laws>
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<set servo="MOTOR_RIGHT" value="@MOTOR_RIGHT"/>
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<set servo="MOTOR_LEFT" value="@MOTOR_LEFT"/>
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<set servo="MOTOR_TAIL" value="@MOTOR_TAIL"/>
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<set servo="AILERON_RIGHT" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="@ROLL"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="TILT_RIGHT" value="@TILT + @YAW"/>
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<set servo="TILT_LEFT" value="@TILT - @YAW"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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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="24"/>
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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="true"/>
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</field>
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<field value="TAWAKIV2_IMU_ROT"/>
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</field>
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</define>
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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="24"/>
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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="-15,-2,55" type="int[]"/>
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<field name="scale" value="{{6605,5456,56432},{2691,2225,22965}}"/>
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<field value="TAWAKIV2_IMU_ROT"/>
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</field>
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</define>
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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="false"/>
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</field>
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<field name="neutral" value="-135,-5,-136" type="int[]"/>
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<field name="scale" value="{{16177,28166,11486},{28445,47907,20609}}"/>
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</field>
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<field type="struct">
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<field name="abi_id" value="3"/>
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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="false"/>
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</field>
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<!--field name="neutral" value="-3414,2416,-826" type="int[]"/>
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<field name="scale" value="{{19909,4364,21663},{28395,6749,30542}}"/-->
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<field name="neutral" value="-397,-161,-5045" type="int[]"/>
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<field name="scale" value="{{51767,39473,6973},{59286,49477,8529}}"/>
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<field value="TAWAKIV2_MAG_ROT"/>
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</field>
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</define>
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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="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE"/>
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<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1000"/>
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</section>
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<section name="BAT">
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<define name="MilliAmpereOfAdc(_adc)" value="_adc*1."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="17.0" unit="V"/>
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<define name="BAT_NB_CELLS" value="4"/>
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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="40." unit="deg"/>
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<define name="SP_MAX_THETA" value="30." 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="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- MR ML MT Y -->
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<!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
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<define name="G1" type="matrix">
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<field value="{ -16., 16., 0., 0. }"/>
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<field value="{ 8., 8., -12., 0. }"/>
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<field value="{ 0., 0., 0., 20.0 }"/>
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<field value="{ -0.85, -0.85, -0.85, 0.}"/>
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</define>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{0, 0, 0, 0}"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="100"/>
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<define name="REF_ERR_Q" value="80"/>
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<define name="REF_ERR_R" value="70"/>
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<define name="REF_RATE_P" value="20."/>
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<define name="REF_RATE_Q" value="18.0"/>
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<define name="REF_RATE_R" value="11.0"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
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<define name="FILT_CUTOFF" value="5.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ" value="{12.66, 12.66, 12.66, 25.6}"/>
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<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 170}"/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 1}"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="STABILIZATION_PLANE" prefix="STABILIZATION_PLANE_">
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<define name="PHI_PGAIN" value="10000"/>
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<define name="PHI_IGAIN" value="50"/>
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<define name="PHI_DGAIN" value="600"/>
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<define name="THETA_PGAIN" value="8000"/>
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<define name="THETA_IGAIN" value="30"/>
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<define name="THETA_DGAIN" value="1000"/>
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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="180"/>
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<define name="DGAIN" value="180"/>
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<define name="AGAIN" value="0"/>
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<define name="IGAIN" value="30"/>
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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="0.35"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_INDI">
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.8"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.6"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.5"/>
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<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
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<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="0.6"/>
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<define name="GUIDANCE_H_REF_MAX_SPEED" value="16.0"/> <!--not used-->
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2000"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1000"/>
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<define name="GUIDANCE_INDI_MIN_PITCH" value="-80."/>
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<define name="GUIDANCE_INDI_MAX_PITCH" value="25."/>
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
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<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="18.0"/>
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<define name="GUIDANCE_INDI_PITCH_OFFSET_GAIN" value="0.06"/>
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<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
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<define name="GUIDANCE_INDI_LINE_GAIN" value="0.7"/>
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<define name="FWD_SIDESLIP_GAIN" value="0.20"/>
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<!--Flap effectiveness on lift-->
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<define name="FE_LIFT_A_PITCH" value="0.00018"/>
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<define name="FE_LIFT_B_PITCH" value="0.00072"/>
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<define name="FE_LIFT_A_AS" value="0.0008"/>
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<define name="FE_LIFT_B_AS" value="0.00009"/>
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</section>
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<section name="GUIDANCE_PLANE" prefix="GUIDANCE_PLANE_">
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<define name="COURSE_KP" value="1.0"/>
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<define name="COURSE_KD" value="0.1"/>
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<define name="CLIMB_KP" value="0.1"/>
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<define name="PITCH_KP" value="0.5"/>
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<define name="PITCH_KD" value="0.1"/>
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<define name="PITCH_KI" value="0."/>
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<define name="THROTTLE_KP" value="0.1"/>
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<define name="THROTTLE_KD" value="0.1"/>
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<define name="THROTTLE_KI" value="0."/>
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<define name="NOMINAL_THROTTLE" value="0.5"/>
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<define name="PITCH_TRIM" value="2." unit="deg"/>
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</section>
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<section name="NAV">
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<define name="NAV_CLIMB_VSPEED" value="1.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-1.5"/>
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<define name="NAV_TAKEOFF_HEIGHT" value="10."/>
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<define name="NAV_LANDING_AF_HEIGHT" value="20."/>
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<define name="NAV_LANDING_FLARE_HEIGHT" value="10."/>
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<define name="NAV_LANDING_DESCEND_SPEED" value="-2.0"/>
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<define name="SURVEY_HYBRID_MAX_SWEEP_BACK" value="1"/>
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<!--define name="MISSION_ALT_PROXIMITY" value="4."/-->
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<define name="NAV_HYBRID_LINE_GAIN" value="0.8"/>
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</section>
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<include href="conf/mag/toulouse_muret.xml"/>
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<section name="MISC">
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="FALSE"/>
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<!--define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/-->
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<define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
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<define name="MISSION_PATH_SKIP_GOTO" value="TRUE"/>
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<define name="BARO_PERIODIC_FREQUENCY" value="50"/>
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<define name="USE_AIRSPEED" value="TRUE"/>
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<define name="ARRIVED_AT_WAYPOINT" value="5.0"/> <!-- For outdoor -->
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<define name="DEFAULT_CIRCLE_RADIUS" value="60"/> <!-- For outdoor -->
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<define name="CARROT" value="3.0"/>
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<define name="POWER_SWITCH_GPIO" value="GPIOA,GPIO3"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_"> <!-- no model yet -->
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<define name="JSBSIM_MODEL" value="ranger_t1" type="string"/>
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<define name="USE_COMMANDS" value="TRUE"/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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</section>
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</airframe>
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@@ -0,0 +1,146 @@
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<!DOCTYPE autopilot SYSTEM "autopilot.dtd">
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<autopilot name="Heewing VTOL">
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<state_machine name="ap" freq="PERIODIC_FREQUENCY" gcs_mode="true" settings_mode="true" settings_handler="autopilot_generated|SetModeHandler">
|
||||
|
||||
<modules>
|
||||
<module name="control_mixing" type="heewing"/>
|
||||
<module name="stabilization" type="plane_pid"/>
|
||||
<module name="guidance" type="plane_pid_rotorcraft"/>
|
||||
</modules>
|
||||
|
||||
<includes>
|
||||
<include name="autopilot_rc_helpers.h"/>
|
||||
<!--define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" cond="ifndef MODE_MANUAL"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" cond="ifndef MODE_AUTO1"/-->
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV" cond="ifndef MODE_AUTO2"/>
|
||||
<define name="RCLost()" value="(radio_control.status == RC_REALLY_LOST)"/>
|
||||
<define name="DLModeAtt()" value="(autopilot_mode_auto2 == 0)"/>
|
||||
<define name="DLModeNav()" value="(autopilot_mode_auto2 == 1)"/>
|
||||
</includes>
|
||||
|
||||
<settings>
|
||||
<dl_setting var="autopilot.kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
|
||||
<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="1" module="autopilot" values="ATT|NAV"/>
|
||||
</settings>
|
||||
|
||||
<control_block name="set_commands">
|
||||
<call fun="SetRotorcraftCommands(stabilization.cmd, autopilot_in_flight(), autopilot_get_motors_on())"/>
|
||||
</control_block>
|
||||
|
||||
<mode_selection>
|
||||
<mode_select cond="RCMode0()" mode="MODE_MANUAL"/>
|
||||
<mode_select cond="RCMode1()" mode="MODE_AUTO1"/>
|
||||
<mode_select cond="RCMode2()" mode="MODE_AUTO2"/>
|
||||
</mode_selection>
|
||||
|
||||
<exceptions>
|
||||
<exception cond="nav.too_far_from_home" deroute="HOME"/>
|
||||
<exception cond="kill_switch_is_on()" deroute="KILL"/>
|
||||
</exceptions>
|
||||
|
||||
<!-- Kill throttle mode -->
|
||||
<mode name="KILL">
|
||||
<select cond="kill_switch_is_on()"/>
|
||||
<on_enter>
|
||||
<call fun="guidance_h_mode_changed(GUIDANCE_H_MODE_NONE)"/>
|
||||
<call fun="stabilization_mode_changed(STABILIZATION_MODE_NONE, 0)"/>
|
||||
<call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_KILL)"/>
|
||||
<call fun="autopilot_set_in_flight(false)"/>
|
||||
<call fun="autopilot_set_motors_on(false)"/>
|
||||
<!--call fun="stabilization.cmd[COMMAND_THRUST] = 0"/-->
|
||||
</on_enter>
|
||||
<control>
|
||||
<call fun="SetCommands(commands_failsafe)"/>
|
||||
</control>
|
||||
</mode>
|
||||
|
||||
<!-- Glide (same as KILL ?) -->
|
||||
<mode name="FAILSAFE" shortname="FAIL">
|
||||
<on_enter>
|
||||
<call fun="guidance_h_mode_changed(GUIDANCE_H_MODE_NONE)"/>
|
||||
<call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_KILL)"/>
|
||||
<call fun="stabilization_mode_changed(STABILIZATION_MODE_ATTITUDE, STABILIZATION_ATT_SUBMODE_HEADING)"/>
|
||||
<call fun="autopilot_set_motors_on(false)"/>
|
||||
</on_enter>
|
||||
<control>
|
||||
<call fun="stabilization_get_failsafe_sp()" store="struct StabilizationSetpoint stab_failsafe"/>
|
||||
<call fun="th_sp_from_thrust_i(0, THRUST_AXIS_Z)" store="struct ThrustSetpoint thrust_sp"/>
|
||||
<call fun="stabilization_run(autopilot_in_flight(), &stab_failsafe, &thrust_sp, stabilization.cmd)"/>
|
||||
<call_block name="set_commands"/>
|
||||
</control>
|
||||
<exception cond="!GpsIsLost()" deroute="$LAST_MODE"/>
|
||||
</mode>
|
||||
|
||||
<mode name="MANUAL" shortname="MAN">
|
||||
<on_enter>
|
||||
<call fun="guidance_h_mode_changed(GUIDANCE_H_MODE_NONE)"/>
|
||||
<call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT)"/>
|
||||
<call fun="stabilization_mode_changed(STABILIZATION_MODE_ATTITUDE, STABILIZATION_ATT_SUBMODE_HEADING)"/>
|
||||
</on_enter>
|
||||
<control freq="NAVIGATION_FREQUENCY">
|
||||
<call fun="nav_periodic_task()"/>
|
||||
</control>
|
||||
<control>
|
||||
<call fun="control_mixing_heewing_manual()"/>
|
||||
</control>
|
||||
<exception cond="RCLost()" deroute="FAILSAFE"/>
|
||||
</mode>
|
||||
|
||||
<mode name="FORWARD" shortname="FWD">
|
||||
<on_enter>
|
||||
<call fun="control_mixing_heewing_attitude_plane_enter()"/>
|
||||
</on_enter>
|
||||
<control freq="NAVIGATION_FREQUENCY">
|
||||
<call fun="nav_periodic_task()"/>
|
||||
</control>
|
||||
<control>
|
||||
<call fun="control_mixing_heewing_attitude_plane()"/>
|
||||
</control>
|
||||
<exception cond="RCLost()" deroute="FAILSAFE"/>
|
||||
</mode>
|
||||
|
||||
<mode name="ATTITUDE" shortname="ATT">
|
||||
<on_enter>
|
||||
<call fun="control_mixing_heewing_attitude_direct_enter()"/>
|
||||
</on_enter>
|
||||
<control freq="NAVIGATION_FREQUENCY">
|
||||
<call fun="nav_periodic_task()"/>
|
||||
</control>
|
||||
<control>
|
||||
<call fun="control_mixing_heewing_attitude_direct()"/>
|
||||
</control>
|
||||
<exception cond="RCLost()" deroute="FAILSAFE"/>
|
||||
</mode>
|
||||
|
||||
<mode name="NAV">
|
||||
<select cond="$DEFAULT_MODE"/>
|
||||
<on_enter>
|
||||
<call fun="control_mixing_heewing_nav_enter()"/>
|
||||
</on_enter>
|
||||
<control freq="NAVIGATION_FREQUENCY">
|
||||
<call fun="nav_periodic_task()"/>
|
||||
</control>
|
||||
<control>
|
||||
<call fun="control_mixing_heewing_nav_run()"/>
|
||||
</control>
|
||||
<exception cond="GpsIsLost() && autopilot_in_flight()" deroute="FAILSAFE"/>
|
||||
</mode>
|
||||
|
||||
<mode name="HOME">
|
||||
<on_enter>
|
||||
<call fun="control_mixing_heewing_nav_enter()"/>
|
||||
</on_enter>
|
||||
<control freq="NAVIGATION_FREQUENCY">
|
||||
<call fun="nav_home()"/>
|
||||
</control>
|
||||
<control>
|
||||
<call fun="control_mixing_heewing_nav_run()"/>
|
||||
</control>
|
||||
<exception cond="GpsIsLost()" deroute="FAILSAFE"/>
|
||||
</mode>
|
||||
|
||||
</state_machine>
|
||||
|
||||
</autopilot>
|
||||
@@ -0,0 +1,23 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
<module name="control_mixing_heewing" dir="ctrl" task="control">
|
||||
<doc>
|
||||
<description>Control mixing specific to the Heewing T1 Ranger</description>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="control_mixing_heewing.h"/>
|
||||
</header>
|
||||
<init fun="control_mixing_heewing_init()"/>
|
||||
<makefile>
|
||||
<file name="control_mixing_heewing.c"/>
|
||||
<test firmware="rotorcraft">
|
||||
<define name="INDI_OUTPUTS" value="4"/>
|
||||
<define name="INDI_NUM_ACT" value="4"/>
|
||||
<define name="COMMAND_MOTOR_RIGHT" value="0"/>
|
||||
<define name="COMMAND_MOTOR_LEFT" value="1"/>
|
||||
<define name="COMMAND_MOTOR_TAIL" value="2"/>
|
||||
<define name="COMMAND_TILT" value="3"/>
|
||||
<define name="ACTUATORS_NB" value="4"/>
|
||||
<define name="PERIODIC_FREQUENCY" value="500"/>
|
||||
</test>
|
||||
</makefile>
|
||||
</module>
|
||||
@@ -0,0 +1,58 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="guidance_plane_pid_rotorcraft" dir="guidance" task="control">
|
||||
<doc>
|
||||
<description>
|
||||
Basic guidance code for fixedwing planes using the rotorcraft firmware
|
||||
with PID control, no airspeed control
|
||||
</description>
|
||||
<section name="GUIDANCE_PLANE" prefix="GUIDANCE_PLANE_">
|
||||
<define name="MAX_BANK" value="20" description="maximum commanded bank angle" unit="deg"/>
|
||||
<define name="COURSE_KP" value="79" description="feedback horizontal control P gain"/>
|
||||
<define name="COURSE_KD" value="100" description="feedback horizontal control D gain"/>
|
||||
<define name="ALT_KP" value="283" description="feedback vertical control P gain"/>
|
||||
<define name="MAX_CLIMB" value="1.5" description="maximum commanded vertical speed" unit="m/s"/>
|
||||
<define name="PITCH_KP" value="283" description="feedback vertical control P gain"/>
|
||||
<define name="PITCH_KD" value="82" description="feedback vertical control D gain"/>
|
||||
<define name="PITCH_KI" value="13" description="feedback vertical control I gain"/>
|
||||
<define name="THROTTLE_KP" value="283" description="feedback vertical control P gain"/>
|
||||
<define name="THROTTLE_KD" value="82" description="feedback vertical control D gain"/>
|
||||
<define name="THROTTLE_KI" value="13" description="feedback vertical control I gain"/>
|
||||
<define name="NOMINAL_THROTTLE" value="0.5" description="nominal throttle at hover (between 0 and 1)"/>
|
||||
</section>
|
||||
</doc>
|
||||
<settings target="ap|nps">
|
||||
<dl_settings>
|
||||
<dl_settings NAME="guidance plane">
|
||||
<dl_setting var="guidance_plane.roll_max_setpoint" min="10." step="1." max="60." shortname="max bank" param="GUIDANCE_PLANE_MAX_BANK" module="guidance/guidance_plane" unit="rad" alt_unit="deg"/>
|
||||
<dl_setting var="guidance_plane.pitch_max_setpoint" min="10." step="1." max="45." shortname="max pitch" param="GUIDANCE_PLANE_MAX_PITCH" unit="rad" alt_unit="deg"/>
|
||||
<dl_setting var="guidance_plane.pitch_min_setpoint" min="-30." step="1." max="-10." shortname="min pitch" param="GUIDANCE_PLANE_MIN_PITCH" unit="rad" alt_unit="deg"/>
|
||||
<dl_setting var="guidance_plane.pitch_trim" min="-10." step="1." max="10." shortname="pitch trim" param="GUIDANCE_PLANE_PITCH_TRIM" unit="rad" alt_unit="deg"/>
|
||||
<dl_setting var="guidance_plane.cruise_throttle" min="0." step="0.01" max="1." shortname="cruise throttle" param="GUIDANCE_PLANE_NOMINAL_THROTTLE"/>
|
||||
<dl_setting var="guidance_plane.climb_max_setpoint" min="0.5" step="0.1" max="5." shortname="max climb" param="GUIDANCE_PLANE_MAX_CLIMB" unit="m/s"/>
|
||||
<dl_setting var="guidance_plane.course_kp" min="0." step="0.01" max="10." shortname="course kp" param="GUIDANCE_PLANE_COURSE_KP"/>
|
||||
<dl_setting var="guidance_plane.course_kd" min="0." step="0.01" max="10." shortname="course kd" param="GUIDANCE_PLANE_COURSE_KD"/>
|
||||
<dl_setting var="guidance_plane.climb_kp" min="0." step="0.01" max="10." shortname="climb kp" param="GUIDANCE_PLANE_CLIMB_KP"/>
|
||||
<dl_setting var="guidance_plane.climb_throttle_increment" min="0." step="0.01" max="0.5" shortname="throttle increment" param="GUIDANCE_PLANE_CLIMB_THROTTLE_INCREMENT"/>
|
||||
<dl_setting var="guidance_plane.pitch_of_vz" min="0." step="0.1" max="20." shortname="pitch of vz" param="GUIDANCE_PLANE_PITCH_OF_VZ" unit="rad" alt_unit="deg"/>
|
||||
<dl_setting var="guidance_plane.p_kp" min="0." step="0.1" max="10." shortname="pitch kp" param="GUIDANCE_PLANE_PITCH_KP"/>
|
||||
<dl_setting var="guidance_plane.p_kd" min="0." step="0.1" max="10." shortname="pitch kd" param="GUIDANCE_PLANE_PITCH_KD"/>
|
||||
<dl_setting var="guidance_plane.p_ki" min="0." step="0.1" max="10." shortname="pitch ki" param="GUIDANCE_PLANE_PITCH_KI"/>
|
||||
<dl_setting var="guidance_plane.t_kp" min="0." step="0.1" max="10." shortname="throttle kp" param="GUIDANCE_PLANE_THROTTLE_KP"/>
|
||||
<dl_setting var="guidance_plane.t_kd" min="0." step="0.1" max="10." shortname="throttle kd" param="GUIDANCE_PLANE_THROTTLE_KD"/>
|
||||
<dl_setting var="guidance_plane.t_ki" min="0." step="0.1" max="10." shortname="throttle ki" param="GUIDANCE_PLANE_THROTTLE_KI"/>
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</settings>
|
||||
<dep>
|
||||
<depends>@stabilization,guidance_rotorcraft</depends>
|
||||
<provides>guidance,attitude_command</provides>
|
||||
</dep>
|
||||
<header>
|
||||
<file name="guidance_plane.h"/>
|
||||
</header>
|
||||
<init fun="guidance_plane_init()"/>
|
||||
<makefile target="ap|nps" firmware="rotorcraft">
|
||||
<file name="guidance_plane.c" dir="$(SRC_FIRMWARE)/guidance"/>
|
||||
</makefile>
|
||||
</module>
|
||||
@@ -0,0 +1,42 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="stabilization_plane_pid" dir="stabilization" task="control">
|
||||
<doc>
|
||||
<description>
|
||||
Basic fixed-wing PID controller for rotorcraft firmware using float euler implementation
|
||||
</description>
|
||||
<section name="STABILIZATION_PLANE" prefix="STABILIZATION_PLANE_">
|
||||
<define name="SP_MAX_PHI" value="45." description="max setpoint for roll angle" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
|
||||
<define name="PHI_PGAIN" value="400" description="feedback roll P gain"/>
|
||||
<define name="PHI_DGAIN" value="300" description="feedback roll D gain"/>
|
||||
<define name="PHI_IGAIN" value="100" description="feedback roll I gain"/>
|
||||
<define name="THETA_PGAIN" value="400" description="feedback pitch P gain"/>
|
||||
<define name="THETA_DGAIN" value="300" description="feedback pitch D gain"/>
|
||||
<define name="THETA_IGAIN" value="100" description="feedback pitch I gain"/>
|
||||
</section>
|
||||
</doc>
|
||||
<settings target="ap|nps">
|
||||
<dl_settings>
|
||||
<dl_settings NAME="Att Loop">
|
||||
<dl_setting var="stab_plane_gains.p.x" min="1" step="1" max="15000" shortname="pgain phi" param="STABILIZATION_PLANE_PHI_PGAIN" persistent="true" module="stabilization/stabilization_attitude_plane_pid"/>
|
||||
<dl_setting var="stab_plane_gains.i.x" min="0" step="1" max="800" shortname="igain phi" param="STABILIZATION_PLANE_PHI_IGAIN" persistent="true"/>
|
||||
<dl_setting var="stab_plane_gains.d.x" min="1" step="1" max="4000" shortname="dgain p" param="STABILIZATION_PLANE_PHI_DGAIN" persistent="true"/>
|
||||
<dl_setting var="stab_plane_gains.p.y" min="1" step="1" max="15000" shortname="pgain theta" param="STABILIZATION_PLANE_THETA_PGAIN" persistent="true"/>
|
||||
<dl_setting var="stab_plane_gains.i.y" min="0" step="1" max="800" shortname="igain theta" param="STABILIZATION_PLANE_THETA_IGAIN" persistent="true"/>
|
||||
<dl_setting var="stab_plane_gains.d.y" min="1" step="1" max="4000" shortname="dgain q" param="STABILIZATION_PLANE_THETA_DGAIN" persistent="true"/>
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</settings>
|
||||
<dep>
|
||||
<depends>stabilization_rotorcraft,@attitude_command</depends>
|
||||
<provides>commands</provides>
|
||||
</dep>
|
||||
<header>
|
||||
<file name="stabilization_attitude_plane_pid.h"/>
|
||||
</header>
|
||||
<init fun="stabilization_attitude_plane_pid_init()"/>
|
||||
<makefile target="ap|nps" firmware="rotorcraft">
|
||||
<file name="stabilization_attitude_plane_pid.c" dir="$(SRC_FIRMWARE)/stabilization"/>
|
||||
</makefile>
|
||||
</module>
|
||||
@@ -0,0 +1,204 @@
|
||||
<aerodynamics>
|
||||
|
||||
<axis name="LIFT">
|
||||
|
||||
<function name="aero/force/Lift_alpha">
|
||||
<description>Lift due to alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<table>
|
||||
<independentVar lookup="row">aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-1.57 0.
|
||||
-0.20 -0.750
|
||||
0.00 0.250
|
||||
0.23 1.400
|
||||
0.60 0.710
|
||||
1.57 0.
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
<axis name="DRAG">
|
||||
|
||||
<function name="aero/force/Drag_basic">
|
||||
<description>Drag at zero lift</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<value> 0.15 </value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/force/Drag_induced">
|
||||
<description>Induced drag</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/cl-squared</property>
|
||||
<value> 0.3 </value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
<axis name="SIDE">
|
||||
|
||||
<function name="aero/force/Side_beta">
|
||||
<description>Side force due to beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>aero/beta-rad</property>
|
||||
<value>-0.1</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
<axis name="ROLL">
|
||||
|
||||
<function name="aero/moment/Roll_beta">
|
||||
<description>Roll moment due to beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<sin>
|
||||
<property>aero/beta-rad</property>
|
||||
</sin>
|
||||
<value>-0.01</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Roll_damp">
|
||||
<description>Roll moment due to roll rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/p-aero-rad_sec</property>
|
||||
<value>-0.4</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Roll_yaw">
|
||||
<description>Roll moment due to yaw rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<!--value>0.15</value-->
|
||||
<value>0.</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Roll_aileron">
|
||||
<description>Roll moment due to aileron</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/aileron_lag</property>
|
||||
<value> 0.17 </value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
<axis name="PITCH">
|
||||
|
||||
<function name="aero/moment/Pitch_alpha">
|
||||
<description>Pitch moment due to alpha</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/alpha-rad</property>
|
||||
<value>-0.5</value>
|
||||
<table>
|
||||
<independentVar lookup="row">aero/alpha-rad</independentVar>
|
||||
<tableData>
|
||||
-1.57 0.
|
||||
-0.60 0.3
|
||||
0.00 0.
|
||||
0.60 -0.3
|
||||
1.57 0.
|
||||
</tableData>
|
||||
</table>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Pitch_elevator">
|
||||
<description>Pitch moment due to elevator</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>fcs/elevator_lag</property>
|
||||
<value>1.1</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Pitch_damp">
|
||||
<description>Pitch moment due to pitch rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/cbarw-ft</property>
|
||||
<property>aero/ci2vel</property>
|
||||
<property>velocities/q-aero-rad_sec</property>
|
||||
<value>-12</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
<axis name="YAW">
|
||||
|
||||
<function name="aero/moment/Yaw_beta">
|
||||
<description>Yaw moment due to beta</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<sin>
|
||||
<property>aero/beta-rad</property>
|
||||
</sin>
|
||||
<value>0.12</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Yaw_damp">
|
||||
<description>Yaw moment due to yaw rate</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>aero/bi2vel</property>
|
||||
<property>velocities/r-aero-rad_sec</property>
|
||||
<value>-0.15</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
<function name="aero/moment/Yaw_aileron">
|
||||
<description>Adverse yaw</description>
|
||||
<product>
|
||||
<property>aero/qbar-psf</property>
|
||||
<property>metrics/Sw-sqft</property>
|
||||
<property>metrics/bw-ft</property>
|
||||
<property>fcs/aileron_lag</property>
|
||||
<value>-0.01</value>
|
||||
</product>
|
||||
</function>
|
||||
|
||||
</axis>
|
||||
|
||||
</aerodynamics>
|
||||
@@ -0,0 +1,442 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
|
||||
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
||||
|
||||
<fileheader>
|
||||
<author>ENAC</author>
|
||||
<filecreationdate>23-01-2025</filecreationdate>
|
||||
<version>1.0</version>
|
||||
<description>Heewing Ranger T1 VTOL</description>
|
||||
</fileheader>
|
||||
|
||||
<metrics>
|
||||
<wingarea unit="M2"> 0.09 </wingarea>
|
||||
<wingspan unit="M"> 0.73 </wingspan>
|
||||
<chord unit="M"> 0.15 </chord>
|
||||
<htailarea unit="M2"> 0.029 </htailarea>
|
||||
<htailarm unit="M"> 0.4 </htailarm>
|
||||
<vtailarea unit="M2"> 0.01 </vtailarea>
|
||||
<vtailarm unit="M"> 0.4 </vtailarm>
|
||||
<wing_incidence unit="DEG"> 0 </wing_incidence>
|
||||
<location name="AERORP" unit="M">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<location name="EYEPOINT" unit="M">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<location name="VRP" unit="M">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
</metrics>
|
||||
|
||||
<mass_balance>
|
||||
<ixx unit="KG*M2"> 0.005 </ixx>
|
||||
<iyy unit="KG*M2"> 0.005 </iyy>
|
||||
<izz unit="KG*M2"> 0.015 </izz>
|
||||
<ixy unit="KG*M2"> 0. </ixy>
|
||||
<ixz unit="KG*M2"> 0. </ixz>
|
||||
<iyz unit="KG*M2"> 0. </iyz>
|
||||
<emptywt unit="KG"> 0.67 </emptywt>
|
||||
<location name="CG" unit="M">
|
||||
<x> 0 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
</mass_balance>
|
||||
|
||||
<ground_reactions>
|
||||
<contact type="STRUCTURE" name="CONTACT_FRONT">
|
||||
<location unit="M">
|
||||
<x> -0.12 </x>
|
||||
<y> 0.0 </y>
|
||||
<z>-0.1 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 500 </spring_coeff>
|
||||
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
|
||||
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
|
||||
<contact type="STRUCTURE" name="CONTACT_BACK">
|
||||
<location unit="M">
|
||||
<x> 0.12</x>
|
||||
<y> 0.0</y>
|
||||
<z> -0.1</z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 500 </spring_coeff>
|
||||
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
|
||||
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
|
||||
<contact type="STRUCTURE" name="CONTACT_RIGHT">
|
||||
<location unit="M">
|
||||
<x> 0.0 </x>
|
||||
<y> 0.12</y>
|
||||
<z> -0.1 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 500 </spring_coeff>
|
||||
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
|
||||
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
|
||||
<contact type="STRUCTURE" name="CONTACT_LEFT">
|
||||
<location unit="M">
|
||||
<x> 0.0 </x>
|
||||
<y>-0.12</y>
|
||||
<z> -0.1 </z>
|
||||
</location>
|
||||
<static_friction> 0.8 </static_friction>
|
||||
<dynamic_friction> 0.5 </dynamic_friction>
|
||||
<spring_coeff unit="N/M"> 500 </spring_coeff>
|
||||
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
|
||||
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
|
||||
<max_steer unit="DEG"> 0.0 </max_steer>
|
||||
<brake_group> NONE </brake_group>
|
||||
<retractable>0</retractable>
|
||||
</contact>
|
||||
</ground_reactions>
|
||||
|
||||
<flight_control name="actuator_dynamics">
|
||||
<property value="30.">fcs/motor_lag</property>
|
||||
<property value="54.">fcs/servo_lag</property>
|
||||
<property value="0.">fcs/tilt_min_rad</property>
|
||||
<property value="1.73329">fcs/tilt_max_rad</property> <!-- 99.3 deg -->
|
||||
|
||||
<channel name="filtering">
|
||||
<!--First order filter represents actuator dynamics-->
|
||||
<lag_filter name="motor_right_lag">
|
||||
<input> fcs/MOTOR_RIGHT </input>
|
||||
<clipto>
|
||||
<min>0</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
<c1> fcs/motor_lag </c1>
|
||||
<output> fcs/motor_right_lag</output>
|
||||
</lag_filter>
|
||||
<lag_filter name="motor_left_lag">
|
||||
<input> fcs/MOTOR_LEFT </input>
|
||||
<clipto>
|
||||
<min>0</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
<c1> fcs/motor_lag </c1>
|
||||
<output> fcs/motor_left_lag</output>
|
||||
</lag_filter>
|
||||
<lag_filter name="motor_tail_lag">
|
||||
<input> fcs/MOTOR_TAIL </input>
|
||||
<clipto>
|
||||
<min>0</min>
|
||||
<max>1</max>
|
||||
</clipto>
|
||||
<c1> fcs/motor_lag </c1>
|
||||
<output> fcs/motor_tail_lag</output>
|
||||
</lag_filter>
|
||||
|
||||
<lag_filter name="aileron_lag">
|
||||
<input> fcs/ROLL </input>
|
||||
<c1> fcs/servo_lag </c1>
|
||||
<output> fcs/aileron_lag</output>
|
||||
</lag_filter>
|
||||
<lag_filter name="elevator_lag">
|
||||
<input> fcs/PITCH </input>
|
||||
<c1> fcs/servo_lag </c1>
|
||||
<output> fcs/elevator_lag</output>
|
||||
</lag_filter>
|
||||
|
||||
</channel>
|
||||
|
||||
<channel name="tilt">
|
||||
<fcs_function name="tilt_right">
|
||||
<function>
|
||||
<sum>
|
||||
<property>fcs/TILT</property>
|
||||
<property>fcs/YAW</property>
|
||||
</sum>
|
||||
</function>
|
||||
<output> fcs/tilt_right </output>
|
||||
</fcs_function>
|
||||
<aerosurface_scale name="tilt_right_dyn">
|
||||
<input> fcs/tilt_right </input>
|
||||
<zero_centered> false </zero_centered>
|
||||
<domain>
|
||||
<min> 0. </min>
|
||||
<max> 1. </max>
|
||||
</domain>
|
||||
<range>
|
||||
<min> 0. </min>
|
||||
<max> 1.73329 </max>
|
||||
</range>
|
||||
<output> fcs/tilt_right_rad </output>
|
||||
</aerosurface_scale >
|
||||
<actuator name="tilt_right_output">
|
||||
<input> fcs/tilt_right_rad </input>
|
||||
<rate_limit> 3.5 </rate_limit> <!-- 200 degrees/sec -->
|
||||
<clipto>
|
||||
<min> fcs/tilt_min_rad </min>
|
||||
<max> fcs/tilt_max_rad </max>
|
||||
</clipto>
|
||||
<output> fcs/tilt_right_lag </output>
|
||||
</actuator>
|
||||
<fcs_function name="tilt_right_dir_x">
|
||||
<function>
|
||||
<cos><property> -fcs/tilt_right_lag </property></cos>
|
||||
</function>
|
||||
<output> external_reactions/motor_right/x </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="tilt_right_dir_z">
|
||||
<function>
|
||||
<sin><property> -fcs/tilt_right_lag </property></sin>
|
||||
</function>
|
||||
<output> external_reactions/motor_right/z </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_right_dir_x">
|
||||
<function>
|
||||
<cos><property> -fcs/tilt_right_lag </property></cos>
|
||||
</function>
|
||||
<output> external_reactions/motor_right_torque/l </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_right_dir_z">
|
||||
<function>
|
||||
<sin><property> -fcs/tilt_right_lag </property></sin>
|
||||
</function>
|
||||
<output> external_reactions/motor_right_torque/n </output>
|
||||
</fcs_function>
|
||||
|
||||
<fcs_function>
|
||||
<function>
|
||||
<sum>
|
||||
<property>fcs/TILT</property>
|
||||
<property>-fcs/YAW</property>
|
||||
</sum>
|
||||
</function>
|
||||
<output> fcs/tilt_left </output>
|
||||
</fcs_function>
|
||||
<aerosurface_scale name="tilt_left">
|
||||
<input> fcs/tilt_left </input>
|
||||
<zero_centered> false </zero_centered>
|
||||
<domain>
|
||||
<min> 0. </min>
|
||||
<max> 1. </max>
|
||||
</domain>
|
||||
<range>
|
||||
<min> 0. </min>
|
||||
<max> 1.73329 </max>
|
||||
</range>
|
||||
<output> fcs/tilt_left_rad </output>
|
||||
</aerosurface_scale >
|
||||
<actuator name="tilt_left_output">
|
||||
<input> fcs/tilt_left_rad </input>
|
||||
<rate_limit> 3.5 </rate_limit> <!-- 200 degrees/sec -->
|
||||
<clipto>
|
||||
<min> fcs/tilt_min_rad </min>
|
||||
<max> fcs/tilt_max_rad </max>
|
||||
</clipto>
|
||||
<output> fcs/tilt_left_lag </output>
|
||||
</actuator>
|
||||
<fcs_function name="tilt_left_dir_x">
|
||||
<function>
|
||||
<cos><property> -fcs/tilt_left_rad </property></cos>
|
||||
</function>
|
||||
<output> external_reactions/motor_left/x </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="tilt_left_dir_z">
|
||||
<function>
|
||||
<sin><property> -fcs/tilt_left_rad </property></sin>
|
||||
</function>
|
||||
<output> external_reactions/motor_left/z </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_left_dir_x">
|
||||
<function>
|
||||
<product>
|
||||
<value>-1.</value>
|
||||
<cos><property> -fcs/tilt_left_rad </property></cos>
|
||||
</product>
|
||||
</function>
|
||||
<output> external_reactions/motor_left_torque/l </output>
|
||||
</fcs_function>
|
||||
<fcs_function name="torque_left_dir_z">
|
||||
<function>
|
||||
<product>
|
||||
<value>-1.</value>
|
||||
<sin><property> -fcs/tilt_left_rad </property></sin>
|
||||
</product>
|
||||
</function>
|
||||
<output> external_reactions/motor_left_torque/n </output>
|
||||
</fcs_function>
|
||||
</channel>
|
||||
|
||||
</flight_control>
|
||||
|
||||
<external_reactions>
|
||||
|
||||
<property>fcs/MOTOR_RIGHT</property>
|
||||
<property>fcs/MOTOR_LEFT</property>
|
||||
<property>fcs/MOTOR_TAIL</property>
|
||||
<property>fcs/PITCH</property>
|
||||
<property>fcs/ROLL</property>
|
||||
<property>fcs/YAW</property>
|
||||
<property>fcs/THRUST</property>
|
||||
<property>fcs/TILT</property>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/aileron_lag</property>
|
||||
<property>fcs/elevator_lag</property>
|
||||
<property>fcs/tilt_left_lag</property>
|
||||
<property>fcs/tilt_right_lag</property>
|
||||
|
||||
<property value="3.5">fcs/motor_max_thrust</property> <!-- 0.67 kg hovering at 62% throttle with 3 motors -->
|
||||
<!--property value="0.00001">fcs/motor_max_torque</property-->
|
||||
<property value="0.">fcs/motor_max_torque</property>
|
||||
|
||||
<!-- First the lift forces produced by each propeller -->
|
||||
|
||||
<force name="motor_right" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> -0.09 </x>
|
||||
<y> 0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</force>
|
||||
<force name="motor_left" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> -0.09 </x>
|
||||
<y> -0.12 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</force>
|
||||
<force name="motor_tail" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/motor_max_thrust</property>
|
||||
<value>0.224808943</value> <!-- N to LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.25 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>-1</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
<!-- Then the Moment Couples -->
|
||||
|
||||
<moment name="motor_right_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_right_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.09 </x>
|
||||
<y> 0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> 1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
|
||||
<moment name="motor_left_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_left_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x> 0.09 </x>
|
||||
<y> -0.12 </y>
|
||||
<z> 0. </z>
|
||||
</location>
|
||||
<direction>
|
||||
<x> -1 </x>
|
||||
<y> 0 </y>
|
||||
<z> 0 </z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
<moment name="motor_tail_torque" frame="BODY">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/motor_tail_lag</property>
|
||||
<property>fcs/motor_max_torque</property>
|
||||
<value> 0.738 </value> <!-- N.m to FT.LBS -->
|
||||
</product>
|
||||
</function>
|
||||
<location unit="M">
|
||||
<x>-0.25</x>
|
||||
<y>0</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>-1</z>
|
||||
</direction>
|
||||
</moment>
|
||||
|
||||
</external_reactions>
|
||||
|
||||
<propulsion/>
|
||||
|
||||
<flight_control name="FGFCS"/>
|
||||
<aerodynamics file="Systems/aerodynamics_ranger_t1.xml"/>
|
||||
|
||||
</fdm_config>
|
||||
Reference in New Issue
Block a user