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INDI restructuring (#3256)

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This commit is contained in:
Ewoud Smeur
2024-04-04 10:55:41 +02:00
committed by GitHub
parent 6667d5091d
commit 69f2248a32
13 changed files with 236 additions and 222 deletions
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conf/airframes/tudelft/rot_wing_v3b.xml
+16 -16
View File
@@ -203,21 +203,21 @@
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="7372"/>
<servo no="5" name="SERVO_ELEVATOR" min="5000" neutral="5000" max="-5500"/>
<servo no="6" name="SERVO_RUDDER" min="-8191" neutral="0" max="8191"/>
</servos>
<!-- Can bus 2 actuators -->
<servos DRIVER="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="7372"/>
</servos>
<!-- CAN BUS 2 command outputs-->
@@ -297,11 +297,11 @@
<define name="IYY_WING" value="0.38472811"/>
<define name="M" value="6.94"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
@@ -311,7 +311,7 @@
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -367,7 +367,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -437,7 +437,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/airframes/tudelft/rot_wing_v3d.xml
+8 -8
View File
@@ -288,21 +288,21 @@
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-5.9}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -358,7 +358,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -429,7 +429,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/airframes/tudelft/rot_wing_v3e.xml
+17 -17
View File
@@ -187,11 +187,11 @@
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="7372"/>
<servo no="5" name="ROTATION_MECH" min="-3629" neutral="66" max="3760"/>
</servos>
@@ -203,10 +203,10 @@
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="5" name="BROTATION_MECH" min="-3629" neutral="66" max="3760"/>
</servos>
@@ -288,21 +288,21 @@
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-5.9}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -358,7 +358,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -429,7 +429,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/airframes/tudelft/rot_wing_v3f.xml
+17 -17
View File
@@ -187,11 +187,11 @@
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="7372"/>
<servo no="5" name="ROTATION_MECH" min="-1769" neutral="66" max="1900"/>
</servos>
@@ -203,10 +203,10 @@
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="5" name="BROTATION_MECH" min="-1769" neutral="66" max="1900"/>
</servos>
@@ -288,21 +288,21 @@
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-5.9}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -358,7 +358,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -429,7 +429,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/airframes/tudelft/rot_wing_v3g.xml
+17 -17
View File
@@ -187,11 +187,11 @@
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="7372"/>
<servo no="5" name="ROTATION_MECH" min="-1671" neutral="188" max="2048"/>
</servos>
@@ -203,10 +203,10 @@
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="5" name="BROTATION_MECH" min="-1671" neutral="188" max="2048"/>
</servos>
@@ -288,21 +288,21 @@
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-5.9}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -358,7 +358,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -429,7 +429,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/airframes/tudelft/rot_wing_v3h.xml
+19 -19
View File
@@ -187,12 +187,12 @@
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="5" name="ROTATION_MECH" min="-1515" neutral="328" max="2171"/>
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="7372"/>
<servo no="5" name="ROTATION_MECH" min="-1392" neutral="451" max="2294"/>
</servos>
<!-- CAN BUS 1 command outputs-->
@@ -203,11 +203,11 @@
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="5" name="BROTATION_MECH" min="-1515" neutral="328" max="2171"/>
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="7372"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="7372"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="7372"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="7372"/>
<servo no="5" name="BROTATION_MECH" min="-1392" neutral="451" max="2294"/>
</servos>
<!-- CAN BUS 2 command outputs-->
@@ -288,21 +288,21 @@
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001537287553553"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="{5.86747416762564,0.001936126151564}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001418491625685,-0.000649367806611}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000839259143513,-0.0000478083}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-5.9}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-116.518697071689,1.17051409813432,-0.00002580110593734}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
@@ -358,7 +358,7 @@
<define name="SP_MAX_THETA" value="45." 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"/>
<define name="SP_PSI_DELTA_LIMIT" value="5" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
@@ -429,7 +429,7 @@
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 10, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
conf/flight_plans/tudelft/rotating_wing_EHVB.xml
+20 -16
View File
@@ -9,14 +9,14 @@
<waypoint name="begin_trans" x="300." y="90."/>
<waypoint name="end_trans" x="300." y="120."/>
<waypoint name="STDBY" x="60" y="20"/>
<waypoint name="p1" x="65" y="75"/>
<!-- <waypoint name="p1" x="65" y="75"/>
<waypoint name="p2" x="200" y="120"/>
<waypoint name="p3" x="250" y="-30"/>
<waypoint name="p4" x="120" y="-75"/>
<waypoint name="p4" x="120" y="-75"/> -->
<waypoint name="circ" x="160" y="25"/>
<waypoint name="TD" x="10" y="-1"/>
<waypoint name="APP" x="70" y="-25"/>
<waypoint name="FOLLOW" x="300" y="80"/>
<!-- <waypoint name="APP" x="70" y="-25"/> -->
<!-- <waypoint name="FOLLOW" x="300" y="80"/> -->
<!-- EHVB -->
<waypoint lat="52.169189" lon="4.410820" name="C1"/>
<waypoint lat="52.168049" lon="4.406923" name="C2"/>
@@ -90,10 +90,14 @@
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Approach APP">
<block name="Standby_fwd">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<!-- <block name="Approach APP">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
</block>
</block> -->
<!-- <block name="follow_module">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay pre_call="follow_me_set_wp(WP_p1, 0)" wp="p1"/>
@@ -102,12 +106,12 @@
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="line_trans_fwd">
<!-- <block name="line_trans_fwd">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
<go wp="end_trans"/>
<deroute block="end_transition"/>
</block>
</block> -->
<block name="end_transition">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="end_trans"/>
@@ -122,22 +126,22 @@
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
</block>
<block name="route">
<!-- <block name="route">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="route"/>
</block>
<block name="small_route" strip_button="Route" strip_icon="path.png">
</block> -->
<!-- <block name="small_route" strip_button="Route" strip_icon="path.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<go wp="p2"/>
<go wp="p3"/>
<go wp="p4"/>
<go wp="p1"/>
<deroute block="small_route"/>
</block>
</block> -->
<block name="Circle_CW_fwd" strip_button="CircleRight" strip_icon="circle-right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
@@ -146,24 +150,24 @@
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="big_Circle_CW_fwd">
<!-- <block name="big_Circle_CW_fwd">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<circle radius="150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="big_Circle_CCW_fwd">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
</block> -->
<block name="Transition_quad">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<go wp="STDBY"/>
<deroute block="Standby"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<block name="land here">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<block name="land" strip_button="Land" strip_icon="land-right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<go wp="TD"/>
</block>
conf/modules/stabilization_indi.xml
+1
View File
@@ -61,6 +61,7 @@
<dl_setting var="indi_gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
<dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
<dl_setting var="stablization_indi_yaw_dist_limit" min="0" step=".01" max="10.0" shortname="lim_yaw_spec_moment" param="STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT"/>
</dl_settings>
</dl_settings>
</settings>
conf/simulator/jsbsim/aircraft/rotwing3.xml
+1 -1
View File
@@ -917,7 +917,7 @@
<value>2.45</value> <!--Get rid of 0.5 rho-->
<property>fcs/rudder_lag</property>
<value>0.7376</value> <!--Convert to lbsft-->
<value> 0.002 </value>
<value> 0.01 </value>
</product>
</function>