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https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +08:00
bebop2 airframe file and python param estimation
This commit is contained in:
Ewoud Smeur
@@ -15,11 +15,12 @@
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="stabilization" type="indi">
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<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
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</module>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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@@ -45,26 +46,17 @@
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="11000"/>
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<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="11000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="11000"/>
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<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="11000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="REVERSE" value="TRUE"/>
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
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<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
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<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
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<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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@@ -105,56 +97,41 @@
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.05"/>
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<define name="G1_Q" value="0.025"/>
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<define name="G1_R" value="0.0022"/>
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<define name="G2_R" value="0.20"/>
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<define name="G1_ROLL" value="{18.f, -18.f, -18.f , 18.f}"/>
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<define name="G1_PITCH" value="{15.f , 15.f, -15.f, -15.f }"/>
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<define name="G1_YAW" value="{0.65f, -0.65f, 0.65f, -0.65f}"/>
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<define name="G1_THRUST" value="{-.7f, -.7f, -.7f, -.7f}"/>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{ 110.f, -110.f, 110.f, -110.f}"/>
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="TRUE"/>
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<define name="FILTER_ROLL_RATE" value="FALSE"/>
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<define name="FILTER_PITCH_RATE" value="FALSE"/>
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<define name="FILTER_YAW_RATE" value="FALSE"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="170.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="14.3"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<define name="REF_ERR_P" value="380.f"/>
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<define name="REF_ERR_Q" value="380.f"/>
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<define name="REF_ERR_R" value="380.f"/>
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<define name="REF_RATE_P" value="23.f"/>
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<define name="REF_RATE_Q" value="23.f"/>
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<define name="REF_RATE_R" value="23.f"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<define name="FILT_CUTOFF" value="3.2f"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="3.2f"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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<define name="ACT_DYN_Q" value="0.06"/>
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<define name="ACT_DYN_R" value="0.06"/>
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<define name="ACT_DYN" value="{0.08f, 0.08f, 0.08f, 0.08f}"/>
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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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<define name="ADAPTIVE_MU" value="0.0001f"/>
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<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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<define name="WLS_PRIORITIES" value="{1000.f, 1000.f, 1.f, 100.f}"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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@@ -471,7 +471,7 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/delft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
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settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="#baa3d698b729"
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/>
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<aircraft
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