mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Convergence rebase (#2946)
* Added disco_rotorcraft airframefile to be able to fly hybrid code * Created files (airframe and flightplan) and added bebop_convergence to tudelft conf * allow higher version bebop * logging motor commands and accel bebop2 * Updated hybrid guidance indi variables for bebop2 * improvements * Prepared bebop2 airframe for cyberzoo test * Flying bebop in the cyberzoo * increase outer loop gains * bebop2 jsbsim file * no failsafe thrust for rotorcraft * use ekf2 for bebop2 * Prepared flightplan for outside test * fix static heading * Added disco_convergence * Updated hybrid guidance with extra variables as macro for convergence test * extended logger with nav target * typo with the nav_target * fix thrust estimate * no ctrl eff scheduling * Flown code Valkenburg * Tuned Disco convergence and added nps sim * 24-06-2021 flown disco code, noise on thrust * Updated disco flight plan to increase and decrease altitude 20 meters in flight * change thrust effectiveness * cleanup * logger default freq, lexer, etc. * further small improvments * lower frequency for AHRS_REF_QUAT * use more lexer Co-authored-by: Dennis van Wijngaarden <wijngaarden.dennis@gmail.com>
This commit is contained in:
Ewoud Smeur
GitHub
@@ -0,0 +1,237 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop2_indi">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2">
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<define name="STABILIZATION_INDI_G2_R" value="0.2784"/>
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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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="fdm" type="jsbsim"/>
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<module name="udp"/>
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<define name="STABILIZATION_INDI_G2_R" value="0.2784"/>
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/home/ewoud/"/>
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</module>
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</target>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop">
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<define name="BEBOP_LOWPASS_FILTER" value="MPU60X0_DLPF_42HZ"/>
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<define name="BEBOP_SMPLRT_DIV" value="0"/>
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<define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
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<define name="BEBOP_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G"/>
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</module>
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<!--<module name="gps" type="datalink"/>-->
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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="guidance" type="indi_hybrid"/>
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<module name="ins" type="ekf2"/>
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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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<module name="air_data"/>
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</firmware>
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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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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="REVERSE" value="TRUE"/>
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<define name="TYPE" value="QUAD_X"/>
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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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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="43"/>
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<define name="MAG_Y_NEUTRAL" value="-151"/>
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<define name="MAG_Z_NEUTRAL" value="-64"/>
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<define name="MAG_X_SENS" value="7.21201776785" integer="16"/>
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<define name="MAG_Y_SENS" value="7.20541442846" integer="16"/>
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<define name="MAG_Z_SENS" value="7.55306977197" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-1"/>
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<define name="ACCEL_Y_NEUTRAL" value="-16"/>
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<define name="ACCEL_Z_NEUTRAL" value="-102"/>
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<define name="ACCEL_X_SENS" value="4.90615997669" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.8601827035" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.85967415403" integer="16"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="300" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" 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="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.0390"/>
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<define name="G1_Q" value="0.0473"/>
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<define name="G1_R" value="0.00122"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="170.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="14.3"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_P" value="10.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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<define name="ACT_DYN_Q" value="0.06"/>
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<define name="ACT_DYN_R" value="0.06"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="350"/>
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<define name="HOVER_KD" value="85"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="35" unit="deg"/>
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<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="120"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
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<define name="POS_GAIN" value="1.1"/>
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<define name="POS_GAINZ" value="1.1"/>
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<define name="SPEED_GAIN" value="3.0"/>
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<define name="SPEED_GAINZ" value="3.0"/>
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<define name="FILTER_CUTOFF" value="1.0"/>
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<define name="HEADING_BANK_GAIN" value="1."/>
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<define name="NAV_SPEED_MARGIN" value="0."/>
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<define name="MAX_AIRSPEED" value="4."/>
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<define name="ZERO_AIRSPEED" value="TRUE"/>
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<define name="PITCH_LIFT_EFF" value="0.0"/>
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<define name="SPECIFIC_FORCE_GAIN" value="-400."/>
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<define name="THRUST_DYNAMICS" value="0.06"/>
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<define name="MIN_THROTTLE" value="0."/>
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<define name="MIN_PITCH" value="-35."/>
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<define name="MAX_PITCH" value="35."/>
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</section>
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<section name="FORWARD">
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<!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="0.0" unit="deg"/>
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<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="2.0"/>
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<define name="DESCEND_VSPEED" value="-1.0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="bebop2" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -0,0 +1,277 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Parrot Disco
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-->
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<airframe name="Disco">
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<firmware name="rotorcraft">
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<configure name="PERIODIC_FREQUENCY" value="512"/>
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<target name="ap" board="disco">
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<module name="radio_control" type="sbus"/>
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</module>
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<module name="airspeed" type="ms45xx_i2c">
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<define name="MS45XX_I2C_DEV" value="i2c1"/>
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<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
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<define name="USE_AIRSPEED_MS45XX" value="TRUE"/>
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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_FLAPS" value="RADIO_AUX4"/> <!-- Flaps control -->
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<define name="RADIO_BACK_THOLD" value="RADIO_AUX5"/>
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</target>
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<target name="nps" board="pc">
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<define name="USE_AIRSPEED" value="TRUE"/>
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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<module name="radio_control" type="datalink"/>
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<!--Not dealing with these in the simulation-->
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<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_FLAPS" value="0"/> <!-- Flaps control -->
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<define name="RADIO_KILL_SWITCH" value="0"/>
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</target>
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<module name="telemetry" type="transparent_udp"/>
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<module name="imu" type="disco"/>
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<!--<module name="ahrs" type="float_dcm"/>-->
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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="ins" type="ekf2"/>
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<module name="air_data"/>
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<module name="actuators" type="disco"/>
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<!--<module name="control" type="new"/>-->
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<module name="stabilization" type="indi">
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<configure name="INDI_NUM_ACT" value="3"/>
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</module>
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<module name="guidance" type="indi_hybrid"/>
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<!--<module name="sonar_bebop">
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<define name="USE_SONAR"/>
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<define name="SENSOR_SYNC_SEND_SONAR"/>
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</module>-->
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<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
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<!--Switch advanced INDI scheduling functions on or off-->
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<define name="INDI_FUNCTIONS_RC_CHANNEL" value="6"/>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/> <!-- 12500 max -->
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<servo name="AILEVON_RIGHT" no="6" min="1850" neutral="1450" max="1050"/>
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<servo name="AILEVON_LEFT" no="1" min="1050" neutral="1450" max="1850"/>
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</servos>
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|
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<commands>
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<axis name="THRUST" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
|
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THRUST" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
|
||||
|
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<command_laws>
|
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<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
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<let var="manual" value="LessThan(RadioControlValues(RADIO_MODE), -4800)"/>
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<let var="autopil" value="(1-($manual))"/>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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|
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<let var="motor_thrust" value="$manual? @THRUST : actuators_pprz[2]"/>
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|
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<set servo="MOTOR" value="$th_hold? -9600 : $motor_thrust"/>
|
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<set servo="AILEVON_LEFT" value="($elevator - $aileron) * $manual - actuators_pprz[0] * $autopil"/>
|
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<set servo="AILEVON_RIGHT" value="($elevator + $aileron) * $manual + actuators_pprz[1] * $autopil"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
|
||||
<define name="NAV_CLIMB_VSPEED" value="3.5"/>
|
||||
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE"/>
|
||||
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 12.0877510901 * adc)"/>
|
||||
<!--<define name="USE_AIRSPEED" value="TRUE"/>-->
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FORWARD">
|
||||
<!--The Quadshot 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 Quadshot will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TRANSITION_MAX_OFFSET" value="-90.0" unit="deg"/>
|
||||
<!-- For hybrid guidance by default set to 15-->
|
||||
<!--<define name="MAX_AIRSPEED" value="20.0"/>-->
|
||||
</section>
|
||||
|
||||
<!--<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>-->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="-164"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-19"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-302"/>
|
||||
<define name="ACCEL_X_SENS" value="2.4353263325616896" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.430457186142149" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.4083032197503895" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-195"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-266"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-806"/>
|
||||
<define name="MAG_X_SENS" value="7.239846705729754" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="7.037092768037254" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="7.583294047780469" integer="16"/>
|
||||
|
||||
<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="AHRS" prefix="AHRS_">
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
|
||||
<define name="G1_ROLL" value="{ 0, 0, 0}"/>
|
||||
<define name="G1_PITCH" value="{-8.79, 8.79, 0}"/>
|
||||
<define name="G1_YAW" value="{-15.97, -15.97, 0}"/>
|
||||
<define name="G1_THRUST" value="{ 0, 0, -1.8}"/>
|
||||
<!--Counter torque effect of spinning up a rotor-->
|
||||
<define name="G2" value="{0, 0, 0}"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="100.0"/>
|
||||
<define name="REF_ERR_Q" value="100.0"/>
|
||||
<define name="REF_ERR_R" value="100.0"/>
|
||||
<define name="REF_RATE_P" value="14.0"/>
|
||||
<define name="REF_RATE_Q" value="15.0"/>
|
||||
<define name="REF_RATE_R" value="15.0"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability-->
|
||||
<define name="MAX_R" value="100.0" unit="deg/s"/>
|
||||
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF" value="5.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN" value="{0.1, 0.1, 0.045}"/>
|
||||
<define name="ACT_RATE_LIMIT" value="{170, 170, 9600}"/>
|
||||
<define name="ACT_IS_SERVO" value="{1, 1, 0}"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="40." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="25." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
<define name="DEADBAND_A" value="250"/>
|
||||
<define name="SP_PSI_DELTA_LIMIT" value="0.001" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="ctrl_eff_scheduling" prefix="FWD_">
|
||||
<!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
|
||||
<define name="G1_ROLL" value="{ 0, 0, 0}"/>
|
||||
<define name="G1_PITCH" value="{-8.79, 8.79, 0}"/>
|
||||
<define name="G1_YAW" value="{-15.97, -15.97, 0}"/>
|
||||
<define name="G1_THRUST" value="{ 0, 0, -0.7}"/>
|
||||
</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="0.4"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="45" 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="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
|
||||
<define name="POS_GAIN" value="0.2"/>
|
||||
<define name="POS_GAINZ" value="0.2"/>
|
||||
<define name="SPEED_GAIN" value="1.0"/>
|
||||
<define name="SPEED_GAINZ" value="1.0"/>
|
||||
<define name="MAX_AIRSPEED" value="12."/>
|
||||
<define name="ZERO_AIRSPEED" value="FALSE"/>
|
||||
<define name="NAV_SPEED_MARGIN" value="10.0"/>
|
||||
<define name="PITCH_EFF_SCALING" value="1.0"/>
|
||||
<define name="PITCH_LIFT_EFF" value="0.12"/>
|
||||
<define name="HEADING_BANK_GAIN" value="15."/>
|
||||
<!--define name="SPECIFIC_FORCE_GAIN" value="-1300."/-->
|
||||
<!--define name="THRUST_DYNAMICS" value="0.04"/-->
|
||||
<define name="MIN_THROTTLE" value="0.0"/>
|
||||
<define name="MIN_THROTTLE_FWD" value="0.0"/>
|
||||
<define name="MIN_PITCH" value="-115."/>
|
||||
<define name="MAX_PITCH" value="-75."/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
|
||||
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="ele_left, ele_right, mot" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="disco_rotorcraft" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<define name="NO_MOTOR_MIXING" value="TRUE"/>
|
||||
<define name="COMMANDS_NB" value="3"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user