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https://github.com/paparazzi/paparazzi.git
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[gps_udp] rename + airframe file
This commit is contained in:
Christophe De Wagter
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
886133e747
commit
5bd2bbacfb
@@ -0,0 +1,224 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="ardrone2_raw">
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2_raw">
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<define name="USE_INS_NAV_INIT"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
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<subsystem name="telemetry" type="udp"/>
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<subsystem name="radio_control" type="datalink"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<!-- Subsystem section -->
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="ardrone2"/>
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<subsystem name="imu" type="ardrone2"/>
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<subsystem name="gps" type="udp"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<load name="send_imu_mag_current.xml"/>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="3000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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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="NB_MOTOR" value="4"/>
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<define name="SCALE" value="255"/>
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelero -->
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<define name="ACCEL_X_NEUTRAL" value="2048"/>
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<define name="ACCEL_Y_NEUTRAL" value="2048"/>
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<define name="ACCEL_Z_NEUTRAL" value="2048"/>
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="-180"/>
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<define name="MAG_X_SENS" value="16." integer="16"/>
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<define name="MAG_Y_SENS" value="16." integer="16"/>
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<define name="MAG_Z_SENS" value="16." integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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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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<!-- local magnetic field -->
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<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<!-- Delft -->
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<!--define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/ -->
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</section>
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<section name="INS" prefix="INS_">
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="REF_TAU" value="4"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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<!-- feedforward -->
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<define name="DDGAIN_P" value="300"/>
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<define name="DDGAIN_Q" value="300"/>
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<define name="DDGAIN_R" value="300"/>
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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="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="600" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="900" 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="900" 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="600" 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="400." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="592"/>
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<define name="PHI_DGAIN" value="303"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="606"/>
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<define name="THETA_DGAIN" value="303"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="529"/>
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<define name="PSI_DGAIN" value="353"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value="52"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="79"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="60"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"nw_motor", "ne_motor", "se_motor", "sw_motor"}"/>
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<define name="JSBSIM_MODEL" value=""simple_ardrone2""/>
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<define name="JSBSIM_INIT" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -52,6 +52,7 @@ void gps_impl_init(void) {
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#define STX 99
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#define UDP_GPS_INT(_udp_gps_payload) (int32_t)(*((uint8_t*)_udp_gps_payload)|*((uint8_t*)_udp_gps_payload+1)<<8|((int32_t)*((uint8_t*)_udp_gps_payload+2))<<16|((int32_t)*((uint8_t*)_udp_gps_payload+3))<<24)
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void gps_parse(void) {
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if (gps_network == NULL) return;
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@@ -64,8 +65,6 @@ void gps_parse(void) {
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// Correct MSG
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if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX))
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{
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#define UDP_GPS_INT(_ubx_payload) (int32_t)(*((uint8_t*)_ubx_payload)|*((uint8_t*)_ubx_payload+1)<<8|((int32_t)*((uint8_t*)_ubx_payload+2))<<16|((int32_t)*((uint8_t*)_ubx_payload+3))<<24)
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gps.lla_pos.lat = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+4));
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gps.lla_pos.lon = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+8));
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gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer+12);
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