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PPM input, GPS input and Telem etc. all working now (#3000)

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OpenUAS
2023-02-28 18:38:32 +01:00
committed by GitHub
parent b73086a6e1
commit 4ef8b85690
4 changed files with 77 additions and 75 deletions
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conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
+47 -44
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@@ -10,24 +10,22 @@
+ ESC: FTV LittleBee 20A Opto Pro with custom firmware
+ BEC: 2.5A small BEC
+ RCRX: OpenRXSR Receiver
+ AIRSPEED: No airspeed (Yet)
+ AIRSPEED: No airspeed
+ TELEMETRY: Si10xx Chip based with firmware enabeling PPRZ RSSI message
+ RANGER: None ATM
+ RANGER: None
+ MOTOR: Default
+ PROP: Default
NOTES:
+ Default CoG is wrong and WAY off, tail heavy, we've modified AC body so that the battery can fit fully in front
+ With original airframe the default CoG is wrong and WAY off, tail heavy, we've modified AC body so that the battery can fit fully in front
+ AP is rotated on Z 45 degrees counterclockwise and flipped 180 degrees
+ Telemetry powered via BEC on flightcontrollen (100mAh max + MCU 60mAh is less than 250mAh, the max the DC converter can handle )
+ Flashing the firmware done with Black Magic Probe (BMP) adapter
+ A GNSS device with magneto on it is used
+ Flashing the firmware performed with Black Magic Probe (BMP) adapter
+ A GNSS device with magneto on same PCB is used
+ Uses PAPARAZZI "standard" radio channel settings
+ A 650mAh battery, expect flighttimes of ~15 minutes at 10m/s
Launching
Launching
+ 1) Set TX to AUTO2, or if no TX it is AUTO2
2) Move nose to ground
3) wait until prop spins after a second or so,
@@ -37,8 +35,8 @@ NOTES:
</description>
<firmware name="fixedwing">
<target name="ap" board="lisa_mxs_1.0_chibios">
<define name="REMAP_UART3" value="TRUE"/>
<!--<configure name="FLASH_MODE" value="SWD"/>--> <!--Enable when flashing with black magic probe v1.0-->
<define name="REMAP_UART3" value="TRUE"/>
<!--<configure name="FLASH_MODE" value="SWD"/>--> <!--Enable when flashing with black magic probe HWv1.0-->
<!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>-->
<!--<define name="AHRS_ALIGNER_SAMPLES_NB" value="600"/>-->
@@ -58,11 +56,11 @@ NOTES:
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="500"/>
<!--<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/>
<configure name="NAVIGATION_FREQUENCY" value="16"/>
<configure name="CONTROL_FREQUENCY" value="120"/>
<configure name="TELEMETRY_FREQUENCY" value="60"/>
<configure name="MODULES_FREQUENCY" value="500"/>-->
<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/>
<configure name="NAVIGATION_FREQUENCY" value="20"/>
<configure name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="50"/>
<configure name="MODULES_FREQUENCY" value="500"/>
<!-- <module name="filter_1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
@@ -87,7 +85,7 @@ NOTES:
<module name="mag" type="qmc5883l">
<configure name="MAG_QMC5883L_PERIODIC_FREQUENCY" value="200"/>
<configure name="MAG_QMC5883L_I2C_DEV" value="I2C1"/>
<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE"/>
<!--<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE"/>-->
<define name="MODULE_QMC5883L_UPDATE_AHRS" value="TRUE"/>
<define name="QMC5883L_CHAN_X" value="1"/>
<define name="QMC5883L_CHAN_Y" value="0"/>
@@ -114,10 +112,11 @@ NOTES:
<module name="radio_control" type="ppm">
<!-- for debugging PPM values as default setting, enable the one below but use with correct telemetry XML document-->
<!--<define name="TELEMETRY_MODE_DEBUG_RC" value="TRUE"/>-->
<define name="RC_OK_CPT" value="25"/><!-- Switch back slower when entering RC range again to prevent flip flopping-->
<define name="RC_OK_CPT" value="25"/><!-- Switch back slower when entering RC range again to prevent flip flopping-->
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/>
<define name="USE_PWM6" value="0"/>
<define name="USE_PWM5" value="0"/> <!-- to enable PPM input disable PWM5-->
<define name="USE_PWM6" value="0"/>
<!-- Mode set one a three way switch -->
<!-- Per default already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
<define name="RADIO_GEAR" value="RADIO_AUX2"/>
@@ -128,18 +127,20 @@ NOTES:
<!--<module name="radio_control" type="datalink"/>-->
<!--<module name="flight_benchmark">
<define name="BENCHMARK_AIRSPEED value="TRUE"/>
<define name="BENCHMARK_AIRSPEED value="FALSE"/>
<define name="BENCHMARK_ALTITUDE value="TRUE"/>
<define name="BENCHMARK_POSITION value="TRUE"/>
<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="1" unit="m/s"/>
<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="4" unit="m"/>
<define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/>
<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="3" unit="m"/>
<define name="BENCHMARK_TOLERANCE_POSITION" value="4" unit="m"/>
</module>-->
<!--<module name="sys_mon"/>--><!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies -->
<module name="sys_mon"/><!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies -->
<!-- <module name="mag_calib_ukf"/>--><!-- New, and needs more testing, be careful with testflights if enabled -->
<module name="air_data"/>
<module name="baro_ms5611_spi">
<configure name="MS5611_SPI_DEV" value="spi1"/>
<configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
@@ -162,7 +163,7 @@ NOTES:
</target>
<target name="nps" board="pc">
<configure name="PERIODIC_FREQUENCY" value="512"/> <!-- unit="Hz" -->
<configure name="PERIODIC_FREQUENCY" value="500"/> <!-- unit="Hz" -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/><!-- unit="Hz" -->
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
@@ -202,33 +203,33 @@ NOTES:
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/><!--unit="s/10" in tenth of seconds for engine kill or in ELECTRICAL_PERIODIC_FREQ-->
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/> <!-- forward acceleration compensation from GPS speed -->
<!--<define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>--> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good -->
<define name="USE_MAGNETOMETER_ONGROUND" value="TRUE"/> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good -->
<!-- If AHRS_MAG_CORRECT_FREQUENCY is set outside of target no need USE_MAGNETOMETER it is assumed TRUE -->
<!--<configure name="USE_MAGNETOMETER" value="FALSE"/>--><!-- should be as in USE the device-->
<configure name="USE_MAGNETOMETER" value="TRUE"/><!-- should be as in USE the device-->
<module name="ahrs" type="float_cmpl_quat"> <!-- Compare e.g. float_dcm, float_cmpl_quat -->
<!--<define name="AHRS_ACCEL_ZETA" value="2.1"/>--><!-- default 0.063, see ahrs_float_cmpl.c -->
<!--<define name="AHRS_ACCEL_OMEGA" value="0.1"/>--><!-- default 0.9, see ahrs_float_cmpl.c -->
<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/>
<configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/>
<!--<configure name="AHRS_ALIGNER_LED" value="2"/>-->
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
<!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>-->
<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>-->
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/>
<!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>--><!-- TRUE per default -->
<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>--><!-- TRUE per default -->
<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/>
<!--<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/>-->
<!--<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="0.174533"/>--><!--unit="rad"/-->
<!--<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0.0"/--> <!--unit="m/s"-->
<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0"/>
<!--<define name="AHRS_FC_MAG_ID" value="MAG_QMC5883_SENDER_ID" />--><!--TODO: When QMC driver works enable it -->
<define name="AHRS_FC_MAG_ID" value="MAG_QMC5883L_SENDER_ID" />
</module>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
<module name="imu_quality_assessment"/><!-- disable after initial tuning-->
<module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
<module name="geo_mag"/>
@@ -237,7 +238,7 @@ NOTES:
<module name="nav" type="line_border"/>
<module name="nav" type="line_osam"/>
<module name="nav" type="survey_polygon">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/>
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="30"/>
</module>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="smooth"/>
@@ -259,14 +260,14 @@ NOTES:
</firmware>
<!-- Rotation between sensor frame and IMU frame of this airframe external magnetometer -->
<!-- Rotation between sensor frame and IMU frame of this airframe external magnetometer -->
<!--If you build in your GPS where the MAGNETOMETER resides on the board
not alligned with the Accelo/Gyro axis or the main IMU on flight controller then set these values-->
<!--<section name="MAG_QMC" prefix="QMC5883_">
not alligned with the Accelo/Gyro axis or the main IMU on flight controller then set these values-->
<section name="MAG_QMC" prefix="QMC5883L_">
<define name="MAG_TO_IMU_PHI" value="0.0"/>
<define name="MAG_TO_IMU_THETA" value="0.0"/>
<define name="MAG_TO_IMU_PSI" value="0.0"/>
</section>-->
</section>
<servos>
<servo name="S_THROTTLE" no="0" min="1040" neutral="1070" max="1900"/>
@@ -320,7 +321,7 @@ NOTES:
<set command="FLAP" value="@AUX3"/>
</rc_commands>
<auto_rc_commands><!-- TODO: Diable later now used if tiny plane turn radius is not yet correcly tuned to keep it in sight -->
<auto_rc_commands><!-- TODO: Disable later, now used to correct manually if tiny aircraft turn radius is not yet correcly tuned to be able keep it in sight -->
<set command="YAW" value="@YAW*0.8"/>
</auto_rc_commands>
@@ -427,7 +428,6 @@ NOTES:
<define name="USE_GPS_ALT" value="TRUE"/>
<define name="VFF_R_GPS" value="0.2"/>
<!-- <define name="USE_GPS_ALT_SPEED" value="FALSE"/>--><!-- TODO: Check -->
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -452,7 +452,6 @@ NOTES:
<define name="ROLL_KFFD" value="0."/>
<!--<define name="PITCH_OF_ROLL" value="2." unit="deg"/>--><!-- TODO: Tune -->
<!--<define name="AILERON_OF_THROTTLE" value="0.0"/>--><!-- TODO: Dangrous if set wrongly -->
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -505,7 +504,6 @@ NOTES:
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
@@ -528,16 +526,15 @@ NOTES:
Or place a reistor on top. We only had a 7k0 lying around at the time, so our multiplication factor is now ~0.0023872f
-->
<define name="VoltageOfAdc(adc)" value="(adc)*0.0023872f" />
<define name="MAX_BAT_CAPACITY" value="650" unit="mAh"/>
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="260" unit="mA"/><!-- The amps by AP+RX+ESC+Telemetry+Servos is not MOTOR power this substracted-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="4000" unit="mA"/><!-- Motor amp draw at full Power static test at 7.7v -->
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/><!--TODO: validate and set-->
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/> <!-- 2S lipo 2x4.2 = 8.4 -->
<!--<define name="BAT_NB_CELLS" value="2"/> -->
<define name="LOW_BAT_LEVEL" value="7.4" unit="V"/> <!-- conservative since quick voltage dropoff at end of battery voltag-->
<define name="LOW_BAT_LEVEL" value="7.4" unit="V"/> <!-- conservative since quick voltage dropoff at end of battery voltage -->
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.2" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
</section>
<section name="MISC">
@@ -563,7 +560,7 @@ NOTES:
<define name="CARROT" value="4." unit="s"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
</section>
</section>
<section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_">
<define name="FOCAL_LENGTH" value="2.5" unit="mm"/>
@@ -582,6 +579,12 @@ NOTES:
<define name="RADIUS_MIN" value="70." unit="m"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- Can as well be your handlaunch, a.k.a. the human catapult ;) -->
<section name="CATAPULT" prefix="NAV_CATAPULT_">
<define name="MOTOR_DELAY" value="0." unit="s"/>