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Added example airframe file for Quadshot on master
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Ewoud
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<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
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More information on the Quadshot can be found at transition-robotics.com -->
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<airframe name="quadshot aspirin 2.1 spektrum">
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<servos driver="Pwm">
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<servo name="A1" no="0" min="1000" neutral="1050" max="2000"/>
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<servo name="A2" no="1" min="1000" neutral="1050" max="2000"/>
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<servo name="B1" no="2" min="1000" neutral="1050" max="2000"/>
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<servo name="B2" no="3" min="1000" neutral="1050" max="2000"/>
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<servo name="ELEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
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<set servo="A2" value="motor_mixing.commands[SERVO_A2]"/>
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<set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
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<set servo="B2" value="motor_mixing.commands[SERVO_B2]"/>
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<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
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<!-- First the correct feedback is stored in variables -->
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<let var="aileron_feedback_left" value="@YAW"/>
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<let var="aileron_feedback_right" value="@YAW"/>
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<let var="elevator_feedback_left" value="+@PITCH"/>
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<let var="elevator_feedback_right" value="-@PITCH"/>
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<!-- Here the gains are defined for the two feedback cases, hover and forward-->
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<let var="hover_left" value="3*$aileron_feedback_left"/>
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<let var="hover_right" value="3*$aileron_feedback_right"/>
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<let var="forward_left" value="6*$aileron_feedback_left+4*$elevator_feedback_left"/>
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<let var="forward_right" value="6*$aileron_feedback_right+4*$elevator_feedback_right"/>
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<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
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<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
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<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, 128, -128 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Use default driver values for gyro -->
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<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
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<define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
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<define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
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<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
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<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="350"/>
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<define name="GAIN_Q" value="250"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="200"/>
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<define name="IGAIN_Q" value="200"/>
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<define name="IGAIN_R" value="200"/>
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</section>
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<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
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<section name ="GAIN_SETS">
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<define name="NUMBER_OF_GAINSETS" value="2"/>
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<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
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<define name="SCHEDULING_POINTS" value="{1000, 6000}"/>
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<define name="SCHEDULING_VARIABLE_FRAC" value="0"/>
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<define name="PHI_P" value="{230, 230}"/>
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<define name="PHI_D" value="{170, 170}"/>
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<define name="PHI_I" value="{30, 30}"/>
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<define name="PHI_DD" value="{0, 0}"/>
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<define name="THETA_P" value="{200, 300}"/>
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<define name="THETA_D" value="{100, 50}"/>
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<define name="THETA_I" value="{40, 40}"/>
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<define name="THETA_DD" value="{0, 0}"/>
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<define name="PSI_P" value="{300, 300}"/>
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<define name="PSI_D" value="{150, 150}"/>
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<define name="PSI_I" value="{0, 0}"/>
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<define name="PSI_DD" value="{0, 0}"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="60." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="3000" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="3000" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="3000" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="230"/>
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<define name="PHI_DGAIN" value="170"/>
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<define name="PHI_IGAIN" value="30"/>
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<define name="THETA_PGAIN" value="300"/>
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<define name="THETA_DGAIN" value="50"/>
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<define name="THETA_IGAIN" value="40"/>
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<define name="PSI_PGAIN" value="300"/>
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<define name="PSI_DGAIN" value="150"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 0"/>
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<define name="THETA_DDGAIN" value=" 0"/>
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<define name="PSI_DDGAIN" value=" 0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="22.4" integer="16"/>
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</section>
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<!-- Gains for vertical navigation -->
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="200"/>
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<define name="HOVER_KD" value="175"/>
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<define name="HOVER_KI" value="72"/>
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<define name="RC_CLIMB_COEF" value ="163"/>
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.4"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<!-- Gains for horizontal navigation-->
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="MISC">
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<define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
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<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
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<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
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<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
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<load name="led_safety_status.xml">
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<define name="USE_LED_BODY" value="1"/>
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<define name="SAFETY_WARNING_LED" value="BODY"/>
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</load>
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<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
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<!--load name="gain_scheduling.xml"/-->
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<subsystem name="radio_control" type="spektrum">
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<!-- Put the mode on channel AUX1-->
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
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</subsystem>
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<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
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<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</subsystem>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0"/>
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<define name="AHRS_USE_GPS_HEADING" value="0"/>
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</subsystem>
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<subsystem name="ins"/>
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</firmware>
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</airframe>
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