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[ELLE0] Added ELLE0 example airframe and sutup files.

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Piotr Esden-Tempski
2015-08-11 20:13:34 +02:00
parent 7b77f7f30c
commit 6a712d24cd
4 changed files with 313 additions and 0 deletions
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conf/airframes/examples/quadrotor_elle0.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: ELLE0 1.0 with STM32F4 http://wiki.paparazziuav.org/wiki/ELLE0
* IMU: MPU9250 & MS5611 http://wiki.paparazziuav.org/wiki/ELLE0#IMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="Quadrotor ELLE0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="elle0_1.0">
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="mpu9250_spi"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf">
<!-- Uncomment to enable all axis update from the Magnetometer. Do
it only if you have a very well calibrated and tested
magnetometer otherwise your attitude will drift. -->
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
</subsystem>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<autopilot name="rotorcraft_autopilot.xml" freq="512"/>
<modules>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FR" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="BR" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="BL" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="FL" no="3" min="1000" neutral="1100" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-127"/>
<define name="MAG_Y_NEUTRAL" value="-30"/>
<define name="MAG_Z_NEUTRAL" value="-140"/>
<define name="MAG_X_SENS" value="7.09366475279" integer="16"/>
<define name="MAG_Y_SENS" value="7.11726808648" integer="16"/>
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="4"/>
<define name="ACCEL_Y_NEUTRAL" value="52"/>
<define name="ACCEL_Z_NEUTRAL" value="7"/>
<define name="ACCEL_X_SENS" value="2.44991708802" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45056441681" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- 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_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/examples/setup_elle0.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with ELLE0 and PWM motor controllers -->
<airframe name="setup_elle0_1.0">
<firmware name="setup">
<target name="tunnel" board="elle0_1.0"/>
<target name="usb_tunnel" board="elle0_1.0">
<configure name="TUNNEL_PORT" value="UART3"/>
</target>
<target name="setup_actuators" board="elle0_1.0">
<subsystem name="actuators" type="pwm"/>
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</target>
</firmware>
<firmware name="test_progs">
<target name="test_sys_time_timer" board="elle0_1.0"/>
<target name="test_sys_time_usleep" board="elle0_1.0"/>
<target name="test_telemetry" board="elle0_1.0"/>
<target name="test_ms2100" board="elle0_1.0"/>
<target name="test_actuators_pwm" board="elle0_1.0">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</target>
<target name="test_actuators_pwm_sin" board="elle0_1.0">
<define name="USE_SERVOS_7AND8"/>
</target>
<target name="test_esc_mkk_simple" board="elle0_1.0"/>
<target name="test_esc_asctecv1_simple" board="elle0_1.0"/>
<target name="test_baro_board" board="elle0_1.0">
<configure name="BARO_LED" value="5"/>
</target>
<target name="test_adc" board="elle0_1.0"/>
<target name="test_can" board="elle0_1.0"/>
<target name="test_uart" board="elle0_1.0">
<define name="USE_UART2"/>
<define name="UART2_BAUD" value="B57600"/>
<define name="USE_UART3"/>
<define name="UART3_BAUD" value="B57600"/>
</target>
</firmware>
<servos>
<servo name="1" no="0" min="900" neutral="1000" max="2100"/>
<servo name="2" no="1" min="900" neutral="1000" max="2100"/>
<servo name="3" no="2" min="900" neutral="1000" max="2100"/>
<servo name="4" no="3" min="900" neutral="1000" max="2100"/>
<servo name="5" no="4" min="900" neutral="1000" max="2100"/>
<servo name="6" no="5" min="900" neutral="1000" max="2100"/>
<servo name="7" no="6" min="900" neutral="1000" max="2100"/>
<servo name="8" no="7" min="900" neutral="1000" max="2100"/>
</servos>
<command_laws>
</command_laws>
</airframe>
conf/conf_example.xml
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@@ -131,6 +131,17 @@
settings_modules="modules/gps_ubx_ucenter.xml"
gui_color="white"
/>
<aircraft
name="Quad_Elle0"
ac_id="165"
airframe="airframes/examples/quadrotor_elle0.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
name="Quad_NavGo"
ac_id="151"
@@ -252,4 +263,15 @@
settings_modules=""
gui_color="blue"
/>
<aircraft
name="setup_elle0"
ac_id="16"
airframe="airframes/examples/setup_elle0.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/dummy.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/setup_actuators.xml"
settings_modules=""
gui_color="blue"
/>
</conf>
conf/conf_tests.xml
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@@ -230,6 +230,17 @@
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
name="Quad_Elle0"
ac_id="165"
airframe="airframes/examples/quadrotor_elle0.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
name="Quad_NavGo"
ac_id="151"