mirror of
https://github.com/paparazzi/paparazzi.git
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[airframes] Airframe fixes (#3061)
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
d967bf237b
commit
6435c9fc43
@@ -1,6 +1,6 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- This is a Nedderdrone
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<!-- This is a Nedderdrone with Trailing edge motors
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* Airframe: TUD00289
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* Autopilot: Pixhawk 4
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* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
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@@ -16,17 +16,23 @@
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<target name="ap" board="px4fmu_5.0_chibios">
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<configure name="FLASH_MODE" value="SWD"/>
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<define name="USE_BARO_BOARD" value="1"/>
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
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</module>
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART3"/>
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</module>
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<module name="airspeed_ets.xml">
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<configure name="AIRSPEED_ETS_I2C_DEV" value="I2C4"/>
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<define name="AIRSPEED_ETS_SCALE" value="1.24"/>
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<module name="airspeed" type="ms45xx_i2c">
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<define name="USE_I2C4"/>
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<define name="MS45XX_I2C_DEV" value="i2c4"/>
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</module>
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<module name="scheduling_indi_simple"/>
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<!-- Forward FuelCell data back to the GCS -->
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<!--module name="generic_uart_sensor"/-->
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@@ -37,29 +43,37 @@
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/>
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<!-- Chibios monitor -->
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<module name="sys_mon"/>
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<define name="ADC_CURRENT_DISABLE" value="TRUE"/>
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_5"/>
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_6"/>
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</module>
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<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
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<!--define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/-->
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<!-- <module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module> -->
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<!--module name="ins" type="extended">
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<define name="INS_USE_GPS_ALT" value="1"/>
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<define name="INS_USE_GPS_ALT_SPEED" value="1"/>
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<define name="INS_VFF_R_GPS" value="0.01"/>
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</module-->
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</target>
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<target name="nps" board="pc">
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<module name="eff_scheduling_nederdrone"/>
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<module name="radio_control" type="datalink"/>
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<module name="fdm" type="jsbsim"/>
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<module name="scheduling_indi_simple"/>
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<module name="logger_file">
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<define name="LOGGER_FILE_PATH" value="/home/ewoud/Documents"/>
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<define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
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</module>
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<!--Not dealing with these in the simulation-->
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@@ -69,40 +83,61 @@
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<define name="RADIO_KILL_SWITCH" value="0"/>
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</target>
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<!--module name="follow_me">
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<define name="FOLLOW_ME_DISTANCE" value="60"/>
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<define name="FOLLOW_ME_HEIGHT" value="40"/>
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</module-->
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<module name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B115200"/>
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<configure name="MODEM_BAUD" value="B460800"/>
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</module>
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<module name="approach_moving_target">
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<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
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</module>
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<module name="ins" type="ekf2" />
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
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</module>
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<module name="imu" type="mpu6000"/>
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<module name="imu" type="heater"/>
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<module name="gps" type="ublox"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="stabilization" type="indi_simple"/>
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<!--module name="gps" type="datalink"/-->
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<module name="gps" type="ublox">
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<configure name="UBX_GPS_BAUD" value="B460800"/>
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<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
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</module>
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<module name="stabilization" type="indi">
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<configure name="INDI_NUM_ACT" value="8"/>
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<define name="TILT_TWIST_CTRL" value="TRUE"/>
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</module>
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<module name="stabilization" type="rate_indi"/>
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<module name="ins" type="ekf2" />
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<module name="air_data"/>
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<module name="air_data" >
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE" />
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</module>
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<module name="AOA_pwm">
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<define name="USE_PWM_INPUT1" value="PWM_PULSE_TYPE_ACTIVE_LOW"/>
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<define name="AOA_ANGLE_OFFSET" value="3.1415"/>
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<define name="AOA_PWM_PERIOD" value="1024"/>
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<define name="AOA_PWM_OFFSET" value="1"/>
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<configure name="AOA_PWM_CHANNEL" value="PWM_INPUT1" />
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</module>
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<!-- Internal MAG -->
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<module name="mag_ist8310">
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<!--module name="mag_ist8310">
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<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
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</module>
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</module-->
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<!-- External MAG on GPS -->
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<!--module name="mag_lis3mdl">
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<module name="mag_lis3mdl">
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<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
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<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
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<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
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</module-->
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</module>
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<!--module name="lidar" type="tfmini">
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<configure name="TFMINI_PORT" value="UART4"/>
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<configure name="USE_TFMINI_AGL" value="FALSE"/>
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@@ -114,24 +149,38 @@
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<module name="guidance" type="indi_hybrid">
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
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<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
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<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
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<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
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<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
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<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
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<!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
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<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/-->
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<!-- <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/> -->
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<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
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<define name="GUIDANCE_INDI_LIFTD_P50" value="6.0"/>
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<define name="GUIDANCE_INDI_LIFTD_P80" value="10.0"/>
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<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.15"/>
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</module>
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<module name="motor_mixing"/>
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<!--module name="sys_id_doublet">
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<define name="DOUBLET_AXES" value="{0,1,2,3,4,5,6,7}"/>
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<define name="DOUBLET_RADIO_CHANNEL" value="9"/>
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</module-->
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<!--<module name="sys_id_chirp">
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<define name="CHIRP_AXES" value="{0,1,2,3,4,5,6,7}"/>
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<define name="CHIRP_RADIO_CHANNEL" value="9"/>
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</module>-->
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</firmware>
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<!-- CAN BUS 1 (Front Wing) -->
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@@ -142,10 +191,8 @@
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<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/>
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<servo name="AIL_1" no="6" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_1" no="7" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_2" no="8" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_2" no="9" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_1" no="6" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_2" no="7" min="6000" neutral="0" max="-6000"/>
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</servos>
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<!-- CAN BUS 2 (Back Wing) -->
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@@ -156,10 +203,10 @@
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<servo name="MOTOR_10" no="3" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_11" no="4" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_12" no="5" min="-8191" neutral="1500" max="8191"/>
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<servo name="AIL_3" no="6" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_3" no="7" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_4" no="8" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_4" no="9" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_3" no="6" min="-6000" neutral="0" max="6000"/>
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<servo name="FLAP_3" no="7" min="-6000" neutral="0" max="6000"/>
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<servo name="FLAP_4" no="8" min="6000" neutral="0" max="-6000"/>
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<servo name="AIL_4" no="9" min="6000" neutral="0" max="-6000"/>
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</servos>
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<commands>
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@@ -181,43 +228,45 @@
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<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
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<define name="NB_MOTOR" value="12"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
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<define name="ROLL_COEF" value="{256, 253, 159, -159, -253, -256, 256, 157, 56, -56, -157, -256}"/>
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<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
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<define name="YAW_COEF" value="{256, -256, 256, -256, 256, -256, -256, 256, -256, 256, -256, 256}"/>
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<define name="YAW_COEF" value="{251, -256, 252, -252, 256, -251, -256, 252, -254, 254, -252, 256}"/>
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<!--<define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
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<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 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_get_motors_on(),FALSE,values)"/>
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<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
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<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
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<set servo="MOTOR_1" value="($th_hold? -9600 : motor_mixing.commands[0])"/>
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<set servo="MOTOR_2" value="($th_hold? -9600 : motor_mixing.commands[1])"/>
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<set servo="MOTOR_3" value="($th_hold? -9600 : motor_mixing.commands[2])"/>
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<set servo="MOTOR_4" value="($th_hold? -9600 : motor_mixing.commands[3])"/>
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<set servo="MOTOR_5" value="($th_hold? -9600 : motor_mixing.commands[4])"/>
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<set servo="MOTOR_6" value="($th_hold? -9600 : motor_mixing.commands[5])"/>
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<set servo="MOTOR_7" value="($th_hold? -9600 : motor_mixing.commands[6])"/>
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<set servo="MOTOR_8" value="($th_hold? -9600 : motor_mixing.commands[7])"/>
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<set servo="MOTOR_9" value="($th_hold? -9600 : motor_mixing.commands[8])"/>
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<set servo="MOTOR_10" value="($th_hold? -9600 : motor_mixing.commands[9])"/>
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<set servo="MOTOR_11" value="($th_hold? -9600 : motor_mixing.commands[10])"/>
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<set servo="MOTOR_12" value="($th_hold? -9600 : motor_mixing.commands[11])"/>
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<!-- Tip props always at 80% -->
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<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props);"/>
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<!--call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/-->
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<!--<call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>-->
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<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
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<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
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<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
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<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
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<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
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<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
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<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<!-- Removed ApplyDiff for differential control -->
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<set servo="AIL_1" value="-2*@PITCH + ( 2*@YAW)"/>
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<set servo="AIL_2" value="-2*@PITCH + (- 2*@YAW)"/>
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<set servo="AIL_3" value=" 2*@PITCH + ( 2*@YAW)"/>
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<set servo="AIL_4" value=" 2*@PITCH + (- 2*@YAW)"/>
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<set servo="FLAP_1" value="-2*@PITCH + ( 2*@YAW)"/>
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<set servo="FLAP_2" value="-2*@PITCH + (- 2*@YAW)"/>
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<set servo="FLAP_3" value=" 2*@PITCH + ( 2*@YAW)"/>
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<set servo="FLAP_4" value=" 2*@PITCH + (- 2*@YAW)"/>
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<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
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<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
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<set servo="AIL_3" value="actuators_pprz[6]"/>
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<set servo="AIL_4" value="actuators_pprz[7]"/>
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<set servo="FLAP_3" value="actuators_pprz[6]"/>
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<set servo="FLAP_4" value="actuators_pprz[7]"/>
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</command_laws>
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<section name="MISC">
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<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 17.9024749557 * adc)"/><!-- TODO: verify/calibrate -->
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<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.1 * adc)"/><!-- TODO: verify/calibrate -->
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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<!-- Basic navigation settings -->
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@@ -225,6 +274,10 @@
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<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
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<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
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<!-- Settings for circle -->
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<define name="DEFAULT_CIRCLE_RADIUS" value="700"/>
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<define name="NAV_CARROT_DIST" value="200"/>
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<!-- Avoid GPS loss behavior when having RC or datalink -->
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<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
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<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
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@@ -253,15 +306,24 @@
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<define name="MPU_Z_SIGN" value="-1"/>
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<!-- Calibrated in the MAVLab 14-05-2020 -->
|
||||
<define name="ACCEL_CALIB" value="{{.abi_id=9, .neutral={-423,18,-28}, .scale={{28111,6328,61706},{6151,1291,12775}}}}"/>
|
||||
<define name="ACCEL_X_NEUTRAL" value="-337"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="64"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
|
||||
<define name="ACCEL_X_SENS" value="4.670307671109528" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.9016250738902425" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.846689188075245" integer="16"/>
|
||||
|
||||
<!-- Calibrated at valkenburg 20-05-2020 (external magnetometer) -->
|
||||
<define name="MAG_CALIB" value="{{.abi_id=4, .neutral={12,113,49}, .scale={{42598,47669,16336},{3039,3365,1153}}}}"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="866"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-1530"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-3313"/>
|
||||
<define name="MAG_X_SENS" value="0.6067461130451115" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="0.6544292255627779" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="0.6352539557433349" integer="16"/>
|
||||
|
||||
<!-- Define axis in hover frame -->
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="82.8" unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
@@ -275,16 +337,25 @@
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness (hover) -->
|
||||
<define name="G1_P" value="0.0030"/>
|
||||
<define name="G1_Q" value="0.0035"/>
|
||||
<define name="G1_R" value="0.0004"/>
|
||||
<define name="G2_R" value="0.00015"/>
|
||||
<!--Nederdrone4 without fuel cell-->
|
||||
<define name="G1_ROLL" value="{ 0.422, -0.422, 1.14, -1.14, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
<define name="G1_PITCH" value="{ 0.5, 0.5, -1.0, - 1.0, -0.5, -0.5, -0.5, -0.5}"/>
|
||||
<define name="G1_YAW" value="{ 0.0, 0.0, 0.0, 0.0, 0.09, -0.09, -0.09, 0.09}"/>
|
||||
<!-- with big battery -->
|
||||
<!-- <define name="G1_THRUST" value="{-0.3, -0.3, -0.45, -0.45, 0.0, 0.0, 0.0, 0.0}"/> -->
|
||||
<!-- without big battery -->
|
||||
<define name="G1_THRUST" value="{-0.37, -0.37, -0.55, -0.55, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
<!--Counter torque effect of spinning up a rotor-->
|
||||
<define name="G2" value="{0, 0, 0, 0, 0, 0, 0, 0}"/>
|
||||
|
||||
<!-- control effectiveness (forward) -->
|
||||
<define name="FORWARD_G1_P" value="0.0020"/>
|
||||
<define name="FORWARD_G1_Q" value="0.0077"/>
|
||||
<define name="FORWARD_G1_R" value="0.004"/>
|
||||
<!-- Forward gains -->
|
||||
<define name="G1_ROLL_FWD" value="{ 0.253, -0.253, 0.684, -0.684, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
<define name="G1_PITCH_FWD" value="{ 0.3, 0.3, -0.6, -0.6, -1.4, -1.4, -1.4, -1.4}"/>
|
||||
<define name="G1_YAW_FWD" value="{ 0.0, 0.0, 0.0, 0.0, 0.94, -0.94, -0.94, 0.94}"/>
|
||||
<!-- with big battery -->
|
||||
<!-- <define name="G1_THRUST_FWD" value="{-0.18 -0.18, -0.27, -0.27, 0.0, 0.0, 0.0, 0.0}"/> -->
|
||||
<!-- without big battery -->
|
||||
<define name="G1_THRUST_FWD" value="{-0.22 -0.22, -0.33, -0.33, 0.0, 0.0, 0.0, 0.0}"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="30.0"/>
|
||||
@@ -295,7 +366,7 @@
|
||||
<define name="REF_RATE_R" value="6.0"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="50.0" unit="deg/s"/>
|
||||
<define name="MAX_R" value="180.0" unit="deg/s"/>
|
||||
|
||||
<!-- Maximum rate setpoint in rate control mode -->
|
||||
<define name="MAX_RATE" value="3.0" unit="rad/s"/>
|
||||
@@ -304,12 +375,14 @@
|
||||
<define name="FILT_CUTOFF" value="1.5"/>
|
||||
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_P" value="20."/>
|
||||
<define name="FILT_CUTOFF_Q" value="20."/>
|
||||
<define name="FILT_CUTOFF_R" value="4.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.0354"/>
|
||||
<define name="ACT_DYN_Q" value="0.0354"/>
|
||||
<define name="ACT_DYN_R" value="0.0354"/>
|
||||
<define name="ACT_DYN" value="{0.0354, 0.0354, 0.0354, 0.0354, 0.05, 0.05, 0.05, 0.05}"/>
|
||||
<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
|
||||
<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
@@ -325,7 +398,7 @@
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="30" unit="deg"/>
|
||||
<define name="MAX_BANK" value="28" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="60"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
@@ -334,10 +407,14 @@
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
|
||||
<define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>
|
||||
<define name="NO_MOTOR_MIXING" value="TRUE"/>
|
||||
<define name="COMMANDS_NB" value="9"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
<define name="DEBUG_SPEED_SP" value="false"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
@@ -355,4 +432,4 @@
|
||||
<define name="BAT_NB_CELLS" value="6"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
</airframe>
|
||||
@@ -1,371 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- This is a Nedderdrone
|
||||
* Airframe: TUD00328
|
||||
* Autopilot: Pixhawk 4
|
||||
* FBW: Pixhawk 4
|
||||
* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
|
||||
* Datalink: Doodlelabs 2.4GHz
|
||||
* GPS: UBlox F9P
|
||||
* RC: SBUS Crossfire
|
||||
-->
|
||||
|
||||
<airframe name="Neddrone5">
|
||||
<description>Neddrone5</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="px4fmu_5.0_chibios">
|
||||
<configure name="PERIODIC_FREQUENCY" value="500"/>
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
|
||||
<module name="radio_control" type="sbus">
|
||||
<configure name="SBUS_PORT" value="UART3"/>
|
||||
</module>
|
||||
|
||||
<module name="airspeed" type="ms45xx_i2c">
|
||||
<define name="USE_I2C4"/>
|
||||
<define name="MS45XX_I2C_DEV" value="i2c4"/>
|
||||
</module>
|
||||
|
||||
<module name="scheduling_indi_simple"/>
|
||||
|
||||
<!-- Forward FuelCell data back to the GCS -->
|
||||
<!--module name="generic_uart_sensor"/-->
|
||||
|
||||
<!-- Logger -->
|
||||
<module name="tlsf"/>
|
||||
<module name="pprzlog"/>
|
||||
<module name="logger" type="sd_chibios"/>
|
||||
<module name="flight_recorder"/>
|
||||
|
||||
<define name="ADC_CURRENT_DISABLE" value="TRUE"/>
|
||||
|
||||
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
|
||||
<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
|
||||
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
|
||||
|
||||
<!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
|
||||
<define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
|
||||
<module name="scheduling_indi_simple"/>
|
||||
|
||||
<module name="logger_file">
|
||||
<define name="LOGGER_FILE_PATH" value="/home/ewoud/Documents"/>
|
||||
</module>
|
||||
|
||||
<!--Not dealing with these in the simulation-->
|
||||
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
|
||||
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
|
||||
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
|
||||
<define name="RADIO_KILL_SWITCH" value="0"/>
|
||||
</target>
|
||||
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B115200"/>
|
||||
</module>
|
||||
|
||||
<module name="approach_moving_target">
|
||||
<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
|
||||
</module>
|
||||
|
||||
<module name="actuators" type="uavcan">
|
||||
<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
|
||||
<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
|
||||
</module>
|
||||
<module name="imu" type="mpu6000"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="stabilization" type="rate_indi"/>
|
||||
<module name="ins" type="ekf2" />
|
||||
|
||||
<module name="air_data"/>
|
||||
|
||||
<!-- Internal MAG -->
|
||||
<!--module name="mag_ist8310">
|
||||
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
|
||||
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
|
||||
</module-->
|
||||
<!-- External MAG on GPS -->
|
||||
<module name="mag_lis3mdl">
|
||||
<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
|
||||
<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
|
||||
<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
|
||||
<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
|
||||
</module>
|
||||
<!--module name="lidar" type="tfmini">
|
||||
<configure name="TFMINI_PORT" value="UART4"/>
|
||||
<configure name="USE_TFMINI_AGL" value="FALSE"/>
|
||||
</module-->
|
||||
|
||||
<module name="nav" type="hybrid">
|
||||
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
|
||||
</module>
|
||||
|
||||
<module name="guidance" type="indi_hybrid">
|
||||
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
|
||||
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
|
||||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
|
||||
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
|
||||
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
|
||||
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
|
||||
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
|
||||
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
|
||||
<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
|
||||
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
</firmware>
|
||||
|
||||
<!-- CAN BUS 1 (Front Wing) -->
|
||||
<servos driver="Uavcan1">
|
||||
<servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="AIL_1" no="6" min="6000" neutral="0" max="-6000"/>
|
||||
<servo name="FLAP_1" no="7" min="6000" neutral="0" max="-6000"/>
|
||||
<servo name="FLAP_2" no="8" min="-6000" neutral="0" max="6000"/>
|
||||
<servo name="AIL_2" no="9" min="-6000" neutral="0" max="6000"/>
|
||||
</servos>
|
||||
|
||||
<!-- CAN BUS 2 (Back Wing) -->
|
||||
<servos driver="Uavcan2">
|
||||
<servo name="MOTOR_7" no="0" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_8" no="1" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_9" no="2" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_10" no="3" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_11" no="4" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="MOTOR_12" no="5" min="-8191" neutral="1500" max="8191"/>
|
||||
<servo name="AIL_3" no="6" min="6000" neutral="0" max="-6000"/>
|
||||
<servo name="FLAP_3" no="7" min="6000" neutral="0" max="-6000"/>
|
||||
<servo name="FLAP_4" no="8" min="-6000" neutral="0" max="6000"/>
|
||||
<servo name="AIL_4" no="9" min="-6000" neutral="0" max="6000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="-300"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THRUST" value="@THROTTLE" />
|
||||
<set command="ROLL" value="@YAW" />
|
||||
<set command="PITCH" value="@PITCH/2" />
|
||||
<set command="YAW" value="-@ROLL/4" />
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
|
||||
<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
|
||||
<define name="NB_MOTOR" value="12"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
|
||||
<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
|
||||
<define name="YAW_COEF" value="{256, -256, 256, -256, 256, -256, -256, 256, -256, 256, -256, 256}"/>
|
||||
<!--<define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
|
||||
<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
|
||||
|
||||
<set servo="MOTOR_1" value="($th_hold? -9600 : motor_mixing.commands[0])"/>
|
||||
<set servo="MOTOR_2" value="($th_hold? -9600 : motor_mixing.commands[1])"/>
|
||||
<set servo="MOTOR_3" value="($th_hold? -9600 : motor_mixing.commands[2])"/>
|
||||
<set servo="MOTOR_4" value="($th_hold? -9600 : motor_mixing.commands[3])"/>
|
||||
<set servo="MOTOR_5" value="($th_hold? -9600 : motor_mixing.commands[4])"/>
|
||||
<set servo="MOTOR_6" value="($th_hold? -9600 : motor_mixing.commands[5])"/>
|
||||
<set servo="MOTOR_7" value="($th_hold? -9600 : motor_mixing.commands[6])"/>
|
||||
<set servo="MOTOR_8" value="($th_hold? -9600 : motor_mixing.commands[7])"/>
|
||||
<set servo="MOTOR_9" value="($th_hold? -9600 : motor_mixing.commands[8])"/>
|
||||
<set servo="MOTOR_10" value="($th_hold? -9600 : motor_mixing.commands[9])"/>
|
||||
<set servo="MOTOR_11" value="($th_hold? -9600 : motor_mixing.commands[10])"/>
|
||||
<set servo="MOTOR_12" value="($th_hold? -9600 : motor_mixing.commands[11])"/>
|
||||
|
||||
<!-- Removed ApplyDiff for differential control -->
|
||||
<set servo="AIL_1" value="-2*@PITCH + ( 2*@YAW)"/>
|
||||
<set servo="AIL_2" value="-2*@PITCH + (- 2*@YAW)"/>
|
||||
<set servo="AIL_3" value=" 2*@PITCH + ( 2*@YAW)"/>
|
||||
<set servo="AIL_4" value=" 2*@PITCH + (- 2*@YAW)"/>
|
||||
<set servo="FLAP_1" value="-2*@PITCH + ( 2*@YAW)"/>
|
||||
<set servo="FLAP_2" value="-2*@PITCH + (- 2*@YAW)"/>
|
||||
<set servo="FLAP_3" value=" 2*@PITCH + ( 2*@YAW)"/>
|
||||
<set servo="FLAP_4" value=" 2*@PITCH + (- 2*@YAW)"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.9040120162 * adc)"/><!-- TODO: verify/calibrate -->
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
|
||||
<!-- Basic navigation settings -->
|
||||
<define name="NAV_CLIMB_VSPEED" value="3.5"/>
|
||||
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
|
||||
|
||||
<!-- Avoid GPS loss behavior when having RC or datalink -->
|
||||
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
|
||||
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="FORWARD">
|
||||
<!--The Nederdrone uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
|
||||
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
|
||||
<!-- This is the pitch angle that the Nederdrone will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
|
||||
<!-- For RC coordinated turns, lower because the yawing was too slow -->
|
||||
<define name="MAX_FWD_SPEED" value="20.0"/>
|
||||
<!-- For hybrid guidance -->
|
||||
<define name="MAX_AIRSPEED" value="20.0"/>
|
||||
<!-- Enable airspeed measurements -->
|
||||
<define name="USE_AIRSPEED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Rotate the IMU (for Pixhawk 4) -->
|
||||
<define name="MPU_CHAN_X" value="1"/>
|
||||
<define name="MPU_CHAN_Y" value="0"/>
|
||||
<define name="MPU_CHAN_Z" value="2"/>
|
||||
<define name="MPU_X_SIGN" value="1"/>
|
||||
<define name="MPU_Y_SIGN" value="1"/>
|
||||
<define name="MPU_Z_SIGN" value="-1"/>
|
||||
|
||||
<!-- Calibrated 09-03-2021 in MAVLab outside body -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="16"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="31"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="10"/>
|
||||
<define name="ACCEL_X_SENS" value="4.793311542012962" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.893892083504835" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.791159603565934" integer="16"/>
|
||||
|
||||
<!-- NOT CALIBRATED (internal magnetometer) -->
|
||||
<!--define name="MAG_X_NEUTRAL" value="-13"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-15"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="12"/>
|
||||
<define name="MAG_X_SENS" value="12.823826623678" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="12.86305350064853" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="12.512614596093622" integer="16"/-->
|
||||
|
||||
<!-- NOT CALIBRATED (external magnetometer) -->
|
||||
<define name="MAG_X_NEUTRAL" value="2457"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-1123"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-1843"/>
|
||||
<define name="MAG_X_SENS" value="0.590610116730755" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="0.6411943049128617" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="0.6279536066632421" integer="16"/>
|
||||
|
||||
<!-- Define axis in hover frame -->
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="80." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness (hover) -->
|
||||
<define name="G1_P" value="0.0030"/>
|
||||
<define name="G1_Q" value="0.0035"/>
|
||||
<define name="G1_R" value="0.0004"/>
|
||||
<define name="G2_R" value="0.00015"/>
|
||||
|
||||
<!-- control effectiveness (forward) -->
|
||||
<define name="FORWARD_G1_P" value="0.0020"/>
|
||||
<define name="FORWARD_G1_Q" value="0.0077"/>
|
||||
<define name="FORWARD_G1_R" value="0.004"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="30.0"/>
|
||||
<define name="REF_ERR_Q" value="30.0"/>
|
||||
<define name="REF_ERR_R" value="20.0"/>
|
||||
<define name="REF_RATE_P" value="6.0"/>
|
||||
<define name="REF_RATE_Q" value="6.0"/>
|
||||
<define name="REF_RATE_R" value="6.0"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="50.0" unit="deg/s"/>
|
||||
|
||||
<!-- Maximum rate setpoint in rate control mode -->
|
||||
<define name="MAX_RATE" value="3.0" unit="rad/s"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="1.5"/>
|
||||
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="4.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.0354"/>
|
||||
<define name="ACT_DYN_Q" value="0.0354"/>
|
||||
<define name="ACT_DYN_R" value="0.0354"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="310"/>
|
||||
<define name="HOVER_KD" value="130"/>
|
||||
<define name="HOVER_KI" value="10"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="30" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="60"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="0"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
|
||||
<define name="BAT_NB_CELLS" value="6"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -63,7 +63,6 @@
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<!-- <module name="eff_scheduling_nederdrone_dummy"/> -->
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
|
||||
@@ -78,10 +77,13 @@
|
||||
<define name="RADIO_KILL_SWITCH" value="0"/>
|
||||
</target>
|
||||
|
||||
<module name="eff_scheduling_nederdrone"/>
|
||||
<module name="eff_scheduling_nederdrone">
|
||||
<!-- Trims -->
|
||||
<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B115200"/>
|
||||
<configure name="MODEM_BAUD" value="B460800"/>
|
||||
</module>
|
||||
|
||||
<module name="approach_moving_target">
|
||||
@@ -138,9 +140,11 @@
|
||||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
|
||||
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
|
||||
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
|
||||
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
|
||||
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
|
||||
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
|
||||
<!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
|
||||
@@ -337,9 +341,9 @@
|
||||
<define name="FILT_CUTOFF" value="1.5"/>
|
||||
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="4."/>
|
||||
<define name="FILT_CUTOFF_P" value="20."/>
|
||||
<define name="FILT_CUTOFF_Q" value="20."/>
|
||||
<define name="FILT_CUTOFF_R" value="4."/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<!--define name="ACT_DYN" value="{0.009, 0.009, 0.009, 0.009, 0.05, 0.05, 0.05, 0.05}"/-->
|
||||
<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
|
||||
|
||||
@@ -35,6 +35,7 @@
|
||||
<module name="airspeed" type="ms45xx_i2c">
|
||||
<define name="USE_I2C4"/>
|
||||
<define name="MS45XX_I2C_DEV" value="i2c4"/>
|
||||
<define name="I2C4_CLOCK_SPEED" value="100000"/>
|
||||
</module>
|
||||
<!--module name="airspeed" type="uavcan"/-->
|
||||
|
||||
@@ -77,10 +78,13 @@
|
||||
<define name="RADIO_KILL_SWITCH" value="0"/>
|
||||
</target>
|
||||
|
||||
<module name="eff_scheduling_nederdrone"/>
|
||||
<module name="eff_scheduling_nederdrone">
|
||||
<!-- Trims -->
|
||||
<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B115200"/>
|
||||
<configure name="MODEM_BAUD" value="B460800"/>
|
||||
</module>
|
||||
|
||||
<module name="approach_moving_target">
|
||||
@@ -137,9 +141,11 @@
|
||||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
|
||||
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
|
||||
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
|
||||
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
|
||||
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
|
||||
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
|
||||
<!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
|
||||
|
||||
@@ -23,7 +23,7 @@
|
||||
</module>
|
||||
|
||||
<!-- Forward FuelCell data back to the GCS -->
|
||||
<!--module name="generic_uart_sensor"/-->
|
||||
<module name="generic_uart_sensor"/>
|
||||
|
||||
<!-- Logger -->
|
||||
<module name="tlsf"/>
|
||||
@@ -35,6 +35,7 @@
|
||||
<module name="airspeed" type="ms45xx_i2c">
|
||||
<define name="USE_I2C4"/>
|
||||
<define name="MS45XX_I2C_DEV" value="i2c4"/>
|
||||
<define name="I2C4_CLOCK_SPEED" value="100000"/>
|
||||
</module>
|
||||
<!--module name="airspeed" type="uavcan"/-->
|
||||
|
||||
@@ -77,17 +78,23 @@
|
||||
<define name="RADIO_KILL_SWITCH" value="0"/>
|
||||
</target>
|
||||
|
||||
<module name="eff_scheduling_nederdrone"/>
|
||||
<module name="eff_scheduling_nederdrone">
|
||||
<!-- Trims -->
|
||||
<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="1100"/>
|
||||
<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B115200"/>
|
||||
<configure name="MODEM_BAUD" value="B460800"/>
|
||||
</module>
|
||||
|
||||
<module name="approach_moving_target">
|
||||
<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
|
||||
</module>
|
||||
|
||||
<module name="ins" type="ekf2" />
|
||||
<module name="ins" type="ekf2">
|
||||
<define name="USE_INS_NAV_INIT" value="FALSE"/>
|
||||
</module>
|
||||
|
||||
<module name="actuators" type="uavcan">
|
||||
<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
|
||||
@@ -137,9 +144,11 @@
|
||||
<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
|
||||
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
|
||||
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
|
||||
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
|
||||
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
|
||||
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
|
||||
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
|
||||
<!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
|
||||
@@ -344,13 +353,11 @@
|
||||
<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
|
||||
<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
|
||||
<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
|
||||
<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
|
||||
<!-- Trims -->
|
||||
<define name="TRIM_ELEVATOR" value="1800"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
|
||||
@@ -66,12 +66,13 @@
|
||||
<set value="FALSE" var="force_forward"/>
|
||||
<call_once fun="NavResurrect()"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-60" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
|
||||
<attitude pitch="-45" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-40." roll="0" throttle="0.8" vmode="throttle"/>
|
||||
<call_once fun="autopilot_set_in_flight(true)"/>
|
||||
<attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="GetPosHeight() @GT 40.0" deroute="Standby"/>
|
||||
@@ -89,7 +90,6 @@
|
||||
</block>
|
||||
<block name="go_p2">
|
||||
<set value="TRUE" var="force_forward"/>
|
||||
<call_once fun="nav_set_heading_deg(90)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
|
||||
@@ -9,6 +9,7 @@
|
||||
<waypoint lat="38.474472222222225" lon="-8.871222222222222" name="HOME"/>
|
||||
<waypoint lat="38.476515" lon="-8.868380" name="CLIMB"/>
|
||||
<waypoint lat="38.476331" lon="-8.869787" name="STDBY"/>
|
||||
<waypoint lat="38.476331" lon="-8.865787" name="CIRCLE"/>
|
||||
<waypoint lat="38.476940" lon="-8.867501" name="p1"/>
|
||||
<waypoint lat="38.481886" lon="-8.856215" name="p2"/>
|
||||
<!-- <waypoint lat="38.478809" lon="-8.851799" name="p3"/> -->
|
||||
@@ -136,12 +137,13 @@
|
||||
<set value="FALSE" var="force_forward"/>
|
||||
<call_once fun="NavResurrect()"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-50" roll="0" throttle="0.8" until="stage_time>0" vmode="throttle"/>
|
||||
<attitude pitch="-45" roll="0" throttle="0.0" until="stage_time>1" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="TakeoffLow">
|
||||
<exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
|
||||
<call_once fun="autopilot_set_in_flight(true)"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-45." roll="0" throttle="0.9" vmode="throttle"/>
|
||||
<attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Takeoff">
|
||||
<exception cond="GetPosHeight() @GT 70.0" deroute="GO NORTH"/>
|
||||
@@ -178,7 +180,6 @@
|
||||
</block>
|
||||
<block name="go_p2">
|
||||
<set value="TRUE" var="force_forward"/>
|
||||
<call_once fun="nav_set_heading_deg(90)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
@@ -192,9 +193,9 @@
|
||||
<exception cond="GpsFixValid()" deroute="GO NORTH"/>
|
||||
<attitude pitch="0" roll="0" climb="-1.0" vmode="climb"/>
|
||||
</block>
|
||||
<block name="Oval">
|
||||
<block name="Circle">
|
||||
<set value="TRUE" var="force_forward"/>
|
||||
<oval p1="p1" p2="p2" radius="nav.radius"/>
|
||||
<circle radius="nav.radius" wp="CIRCLE"/>
|
||||
</block>
|
||||
<block name="land here">
|
||||
<set value="FALSE" var="force_forward"/>
|
||||
|
||||
@@ -63,14 +63,15 @@
|
||||
<call_once fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Start Engine">
|
||||
<block name="Start Engine" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<set value="FALSE" var="force_forward"/>
|
||||
<call_once fun="NavResurrect()"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-65" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
|
||||
<attitude pitch="-45" roll="0" throttle="0.0" until="stage_time>1" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<block name="TakeoffLow">
|
||||
<exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
|
||||
<call_once fun="autopilot_set_in_flight(true)"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
|
||||
</block>
|
||||
@@ -106,7 +107,6 @@
|
||||
</block>
|
||||
<block name="go_p2">
|
||||
<set value="TRUE" var="force_forward"/>
|
||||
<call_once fun="nav_set_heading_deg(90)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
|
||||
Reference in New Issue
Block a user