mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 21:07:40 +08:00
[airframes] First Re-order, so they can be compared/merged
This commit is contained in:
dewagter
+105
-125
@@ -5,6 +5,49 @@
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-->
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<airframe name="Yapa v1">
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<!-- ************************* FIRMWARE ************************* -->
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<firmware name="fixedwing">
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<target name="ap" board="yapa_2.0"/>
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<target name="sim" board="pc"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="AGR_CLIMB"/>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<subsystem name="ins" type="xsens">
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<configure name="XSENS_UART_NR" value="0"/>
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</subsystem>
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</firmware>
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<!-- ************************* MODULES ************************* -->
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="1"/>
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<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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<!-- <load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml"/> -->
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
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</load>
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<load name="nav_line.xml"/>
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</modules>
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<!-- ************************* ACTUATORS ************************* -->
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<servos>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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@@ -19,7 +62,8 @@
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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="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
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<axis name="BRAKE" failsafe_value="9600"/>
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<!-- both elerons up as butterfly brake ? -->
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</commands>
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<rc_commands>
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@@ -30,92 +74,86 @@
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<set command="BRAKE" value="@FLAPS"/>
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</rc_commands>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(75)"/>
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<define name="MAX_PITCH" value="RadOfDeg(45)"/>
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</section>
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<section name="SERVO_MIXER_GAINS">
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<define name="AILERON_NEUTRAL" value="0.3f"/>
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<define name="AILERON_RATE_UP" value="1.0f"/>
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<define name="AILERON_RATE_DOWN" value="0.5f"/>
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<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
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<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
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<define name="PITCH_GAIN" value="0.9f"/>
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<define name="BRAKE_AILEVON" value="-0.7f"/>
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<define name="BRAKE_PITCH" value="0.1f"/>
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<define name="MAX_BRAKE_RATE" value="80"/>
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<define name="RUDDER_OF_AILERON" value="0.3"/>
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</section>
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</section>
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<command_laws>
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<!-- Brake Rate Limiter -->
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<let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
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<ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
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<ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE"/>
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<!-- Differential Aileron Depending on Brake Value -->
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<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
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<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
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<let var="aileron_up" value="((-@ROLL) * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
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<let var="aileron_down" value="((-@ROLL) * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
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<let var="leftturn" value="(@ROLL >= 0? 0 : 1)"/>
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<let var="leftturn" value="(@ROLL >= 0? 0 : 1)"/>
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<let var="rightturn" value="(1 - $leftturn)"/>
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<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
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<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
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<set servo="RUDDER" value="-(@YAW + @ROLL * RUDDER_OF_AILERON)"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<!-- Pitch with Brake-Trim Function -->
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<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
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</command_laws>
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<!-- Local magnetic field -->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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</section>
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<!-- ************************* SENSORS ************************* -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value="0.85490967783446"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
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</section>
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<section name="XSENS">
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<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
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<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
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<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(75)"/>
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<define name="MAX_PITCH" value="RadOfDeg(45)"/>
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</section>
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<!-- ************************* GAINS ************************* -->
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<section name="BAT">
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<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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<define name="COMMAND_ROLL_TRIM" value="180"/>
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<define name="COMMAND_PITCH_TRIM" value="-194."/>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.972000002861"/>
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<define name="COURSE_DGAIN" value="0.280999988317"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
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<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="16917.2929688"/>
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<define name="PITCH_DGAIN" value="7.73400020599"/>
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<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
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<define name="ROLL_RATE_GAIN" value="820.312011719"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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@@ -124,7 +162,6 @@
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<define name="ALTITUDE_PGAIN" value="0.108000002801"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.43599998951"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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@@ -135,30 +172,9 @@
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<define name="AUTO_THROTTLE_PGAIN" value="0."/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.361000001431"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.972000002861"/>
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<define name="COURSE_DGAIN" value="0.280999988317"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
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<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="16917.2929688"/>
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<define name="PITCH_DGAIN" value="7.73400020599"/>
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<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
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<define name="ROLL_RATE_GAIN" value="820.312011719"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="30"/>
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<define name="BLEND_END" value="15"/>
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@@ -170,14 +186,28 @@
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<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<!-- ************************* MISC ************************* -->
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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<!-- Local magnetic field -->
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<section name="BAT">
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<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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<define name="COMMAND_ROLL_TRIM" value="180"/>
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<define name="COMMAND_PITCH_TRIM" value="-194."/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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@@ -185,54 +215,4 @@
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<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
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</section>
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="1"/>
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<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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<!-- <load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml"/> -->
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
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</load>
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<load name="nav_line.xml"/>
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</modules>
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|
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<firmware name="fixedwing">
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|
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<target name="ap" board="yapa_2.0"/>
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<target name="sim" board="pc"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="AGR_CLIMB"/>
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|
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<subsystem name="radio_control" type="ppm"/>
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|
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<!-- Communication -->
|
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<subsystem name="telemetry" type="xbee_api">
|
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<configure name="MODEM_BAUD" value="B9600"/>
|
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</subsystem>
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|
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<!-- Actuators -->
|
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<subsystem name="ins" type="xsens">
|
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<configure name="XSENS_UART_NR" value="0"/>
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</subsystem>
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|
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|
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</firmware>
|
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|
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</airframe>
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</airframe>
|
||||
|
||||
@@ -5,27 +5,24 @@
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||||
-->
|
||||
|
||||
<airframe name="LisaAspirin2">
|
||||
<!-- ************************* FIRMWARE ************************* -->
|
||||
|
||||
<firmware name="fixedwing">
|
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<target name="ap" board="lisa_m_1.0">
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<define name="LISA_M_LONGITUDINAL_X"/>
|
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|
||||
<configure name="PERIODIC_FREQUENCY" value="120"/>
|
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
|
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
|
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<define name="USE_I2C2"/>
|
||||
|
||||
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
|
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</target>
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<target name="sim" board="pc"/>
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||||
|
||||
<target name="nps" board="pc">
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<!-- Note NPS needs the ppm type radio_control subsystem -->
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<subsystem name="fdm" type="jsbsim"/>
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</target>
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<define name="USE_AIRSPEED"/>
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<define name="AGR_CLIMB"/>
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<define name="STRONG_WIND"/>
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@@ -39,19 +36,15 @@
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-->
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||||
<subsystem name="imu" type="aspirin_v2.1"/>
|
||||
<subsystem name="ahrs" type="float_dcm">
|
||||
<!-- <define name="USE_MAGNETOMETER" /> -->
|
||||
<!-- <define name="USE_MAGNETOMETER" /> -->
|
||||
</subsystem>
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<subsystem name="ins" type="alt_float"/>
|
||||
|
||||
|
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<subsystem name="radio_control" type="ppm"/>
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||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B57600"/>
|
||||
<configure name="MODEM_PORT" value="UART2"/>
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</subsystem>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control" type="energy"/>
|
||||
<!-- Sensors -->
|
||||
@@ -61,6 +54,8 @@
|
||||
</subsystem>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
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||||
|
||||
<modules>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="airspeed_ets.xml">
|
||||
@@ -70,23 +65,21 @@
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</load>
|
||||
|
||||
<load name="light.xml">
|
||||
<define name="LIGHT_LED_STROBE" value="2"/>
|
||||
<define name="LIGHT_LED_NAV" value="3"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</load>
|
||||
|
||||
<load name="digital_cam.xml">
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
|
||||
</load>
|
||||
|
||||
<!-- load name="nav_catapult.xml"/-->
|
||||
|
||||
<load name="nav_line.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
|
||||
@@ -109,6 +102,11 @@
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.8"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="AILEVON_LEFT" value="@ROLL"/>
|
||||
<set servo="AILEVON_RIGHT" value="-@ROLL"/>
|
||||
@@ -117,46 +115,100 @@
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
</command_laws>
|
||||
|
||||
<!-- Local magnetic field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value="0.85490967783446"/>
|
||||
<section name="TRIM" prefix="COMMAND_">
|
||||
<define name="ROLL_TRIM" value="0"/>
|
||||
<define name="PITCH_TRIM" value="788."/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* SENSORS ************************* -->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="MAG_X_NEUTRAL" value="((-320+140)/2)"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="((-320+140)/2)"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="0"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="1" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="1" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="1" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value="0.85490967783446"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5.9" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="TRIM" prefix="COMMAND_">
|
||||
<define name="ROLL_TRIM" value="0"/>
|
||||
<define name="PITCH_TRIM" value="788."/>
|
||||
<!-- ************************* GAINS ************************* -->
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.89"/>
|
||||
<define name="COURSE_DGAIN" value="0.27"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
|
||||
<define name="PITCH_PGAIN" value="12000"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
|
||||
<define name="ROLL_SLEW" value="1."/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
|
||||
<define name="ROLL_RATE_GAIN" value="500."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.8"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- power -->
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.183"/>
|
||||
<define name="AIRSPEED_PGAIN" value="0.217"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="10."/>
|
||||
<define name="MAX_ACCELERATION" value="2."/>
|
||||
<!-- energy -->
|
||||
<define name="ENERGY_TOT_PGAIN" value="0.205"/>
|
||||
<define name="ENERGY_TOT_IGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_PGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_IGAIN" value="0.259"/>
|
||||
<define name="GLIDE_RATIO" value="7."/>
|
||||
<!-- auto throttle -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
|
||||
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
|
||||
</section>
|
||||
|
||||
<!-- ************************* MISC ************************* -->
|
||||
|
||||
<!-- Local magnetic field -->
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
|
||||
|
||||
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
|
||||
@@ -168,12 +220,8 @@
|
||||
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="STALL_AIRSPEED" value="10." unit="m/s"/>
|
||||
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
|
||||
</section>
|
||||
|
||||
@@ -191,77 +239,6 @@
|
||||
<define name="TARGET_SPEED" value="13" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- power -->
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.183"/>
|
||||
<define name="AIRSPEED_PGAIN" value="0.217"/>
|
||||
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="10."/>
|
||||
<define name="MAX_ACCELERATION" value="2."/>
|
||||
|
||||
<!-- energy -->
|
||||
<define name="ENERGY_TOT_PGAIN" value="0.205"/>
|
||||
<define name="ENERGY_TOT_IGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_PGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_IGAIN" value="0.259"/>
|
||||
<define name="GLIDE_RATIO" value="7." />
|
||||
|
||||
<!-- auto throttle -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
||||
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
|
||||
|
||||
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.89"/>
|
||||
<define name="COURSE_DGAIN" value="0.27"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="12000"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="1."/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
|
||||
<define name="ROLL_RATE_GAIN" value="500."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
|
||||
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="DIGITAL_CAMERA" prefix="DC_">
|
||||
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
|
||||
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
|
||||
@@ -277,4 +254,4 @@
|
||||
<define name="BYPASS_INS" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
</airframe>
|
||||
|
||||
Reference in New Issue
Block a user