mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
funjet with new control loops
This commit is contained in:
Gautier Hattenberger
committed by
Felix Ruess
Felix Ruess
parent
332e1eec0c
commit
63afca324e
@@ -0,0 +1,239 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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IR i2c
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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Radiotronix modem
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LEA 5H GPS
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Airspeed sensor
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Digital camera
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-->
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<airframe name="Funjet Tiny 2.11">
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="5"/>
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<param name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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<load name="ins_vn100.xml"/>
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</modules>
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<firmware name="fixedwing">
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<target name="sim" board="pc">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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</target>
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<target name="ap" board="tiny_2.11">
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<param name="FLASH_MODE" value="IAP"/>
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<define name="SPI_MASTER"/>
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<define name="USE_SPI_SLAVE0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="joystick"/-->
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<subsystem name="i2c"/>
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<subsystem name="spi"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control" type="new"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="gyro" type="roll">
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<param name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<param name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="IR1_NEUTRAL" value="-15"/>
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<define name="IR2_NEUTRAL" value="0"/>
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<define name="TOP_NEUTRAL" value="-20"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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<define name="LATERAL_CORRECTION" value="1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="487"/>
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
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<define name="ROLL_DIRECTION" value="1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
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<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
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<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
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<define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
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<define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<define name="AIRSPEED_MAX" value="22"/>
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<define name="AIRSPEED_MIN" value="8"/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
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<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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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="-1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" 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="ROLL_ATTITUDE_GAIN" value="-9000."/>
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<define name="ROLL_RATE_GAIN" value="-3000."/>
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<define name="ROLL_IGAIN" value="-500"/>
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<define name="ROLL_KFFA" value="-500"/>
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<define name="ROLL_KFFD" value="-500"/>
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<define name="PITCH_PGAIN" value="-20000."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="PITCH_IGAIN" value="-500"/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="10"/>
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<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
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</section>
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</airframe>
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@@ -0,0 +1,127 @@
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<!DOCTYPE settings SYSTEM "settings.dtd">
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<!-- A conf to use to tune a new A/C -->
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<settings>
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<dl_settings>
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<dl_settings NAME="flight params">
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<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
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<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
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</dl_settings>
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<dl_settings NAME="mode">
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
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<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
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<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
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<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
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<strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
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<strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
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<key_press key="greater" value="1"/>
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<key_press key="less" value="-1"/>
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</dl_setting>
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</dl_settings>
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<dl_settings NAME="control">
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<dl_settings NAME="ir">
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<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
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<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
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<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
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</dl_settings>
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<dl_settings NAME="attitude">
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<dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
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<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="fw_h_ctl"/>
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<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
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<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" module="fw_h_ctl_a" handler="SetRollIGain"/>
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<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
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<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
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||||||
|
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain" shortname="pitch_igain" module="fw_h_ctl_a" handler="SetPitchIGain"/>
|
||||||
|
<dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="fw_h_ctl_a"/>
|
||||||
|
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
|
||||||
|
|
||||||
|
<dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg" alt_unit_coef="0.0174533"/>
|
||||||
|
</dl_settings>
|
||||||
|
|
||||||
|
<dl_settings NAME="feedforward">
|
||||||
|
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffa" module="fw_h_ctl_a" shortname="roll_Kffa"/>
|
||||||
|
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd" module="fw_h_ctl_a" shortname="roll_Kffd"/>
|
||||||
|
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" module="fw_h_ctl_a" shortname="pitch_Kffa"/>
|
||||||
|
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" module="fw_h_ctl_a" shortname="pitch_Kffd"/>
|
||||||
|
</dl_settings>
|
||||||
|
|
||||||
|
<dl_settings name="alt">
|
||||||
|
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
|
||||||
|
</dl_settings>
|
||||||
|
|
||||||
|
<dl_settings name="climb">
|
||||||
|
<dl_setting MAX="2" MIN="0" STEP="1" var="v_ctl_speed_mode" shortname="speed mode" values="THROTTLE|AIRSPEED|GROUNDSPEED">
|
||||||
|
<strip_button name="TH" value="0" group="speed_mode"/>
|
||||||
|
<strip_button name="AS" value="1" group="speed_mode"/>
|
||||||
|
<strip_button name="GS" value="2" group="speed_mode"/>
|
||||||
|
</dl_setting>
|
||||||
|
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
|
||||||
|
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="fw_v_ctl_n"/>
|
||||||
|
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
|
||||||
|
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
|
||||||
|
|
||||||
|
<dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
|
||||||
|
<dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
|
||||||
|
|
||||||
|
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
|
||||||
|
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
|
||||||
|
</dl_settings>
|
||||||
|
|
||||||
|
<dl_settings name="airspeed">
|
||||||
|
<dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_airspeed_setpoint" shortname="as_sp"/>
|
||||||
|
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pgain" shortname="as_pgain"/>
|
||||||
|
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_igain" shortname="as_igain"/>
|
||||||
|
<dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
|
||||||
|
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
|
||||||
|
<dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
|
||||||
|
</dl_settings>
|
||||||
|
|
||||||
|
<dl_settings name="nav">
|
||||||
|
<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
|
||||||
|
<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
|
||||||
|
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
|
||||||
|
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
|
||||||
|
<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
|
||||||
|
<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
|
||||||
|
<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
|
||||||
|
<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
|
||||||
|
<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
|
||||||
|
<dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
|
||||||
|
<dl_setting MAX="1" MIN="0" STEP="0.1" VAR="fp_throttle"/>
|
||||||
|
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
|
||||||
|
<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
|
||||||
|
<dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
|
||||||
|
<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
|
||||||
|
<dl_setting MAX="0.3" MIN="0" STEP="0.01" VAR="cte_igain"/>
|
||||||
|
<dl_setting MAX="20" MIN="0" STEP="1" VAR="cte_max"/>
|
||||||
|
</dl_settings>
|
||||||
|
</dl_settings>
|
||||||
|
</dl_settings>
|
||||||
|
</settings>
|
||||||
Reference in New Issue
Block a user