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TU airframes

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This commit is contained in:
Christophe De Wagter
2011-06-01 00:26:31 +02:00
parent 3ef5188a1b
commit 775a03b10e
3 changed files with 40 additions and 36 deletions
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conf/airframes/TU_Delft/MicrojetBR.xml
+4 -4
View File
@@ -5,9 +5,9 @@
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1615" max="2000"/>
<servo name="AILEVON_RIGHT" no="3" min="2000" neutral="1465" max="1000"/>
<servo name="CAM_PAN" no="5" min="2000" neutral="1550" max="1000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
<servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
<servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
</servos>
@@ -253,7 +253,7 @@
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="57600"/>
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Sensors -->
conf/airframes/TU_Delft/MicrojetCDW.xml
+9 -7
View File
@@ -72,14 +72,16 @@
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="26424"/>
<define name="ACCEL_Y_NEUTRAL" value="26640"/>
<define name="ACCEL_X_NEUTRAL" value="26584"/>
<define name="ACCEL_Y_NEUTRAL" value="26660"/>
<define name="ACCEL_Z_NEUTRAL" value="26732"/>
<!-- SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -->
<define name="ACCEL_X_SENS" value="0.9372" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.9346" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.9178" integer="16"/>
<!-- 3.5G: SENS = 330mV/g / 9.81 ms2/g = 33.63 mV/ms2 * 16 LSB/mV = 538.22 LSB/ms2 / 10bit FRAC -->
<!-- 2G: SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -> 0.9372-->
<!-- 6G: SENS = 220mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 358.8 LSB/ms2 / 10bit FRAC -> 2.853818182-->
<define name="ACCEL_X_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Y_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Z_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
@@ -190,7 +192,7 @@
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="240"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2"/>
conf/airframes/TU_Delft/skywalker.xml
+27 -25
View File
@@ -77,16 +77,16 @@
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" />
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" />
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" />
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
@@ -103,8 +103,8 @@
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.027" unit="deg"/>
</section>
<section name="MISC">
@@ -130,29 +130,29 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.57800000906"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.108999997377" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.324999988079"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.250999987125" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.300000011921"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.01600003242"/>
<define name="COURSE_PGAIN" value="-1.16799998283"/>
<define name="COURSE_DGAIN" value="0.280999988317"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-13476.5615234"/>
<define name="PITCH_PGAIN" value="-15429.6865234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
@@ -166,12 +166,12 @@
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1.00"/>
<define name="CLIMB_PITCH" value="RadOfDeg(30)"/>
<define name="DESCENT_THROTTLE" value="0.0"/>
<define name="DESCENT_PITCH" value="RadOfDeg(-15)"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
<define name="CLIMB_THROTTLE" value="1."/>
<define name="CLIMB_PITCH" value="0.4"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.1"/>
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
@@ -217,6 +217,8 @@
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
</target>
<target name="sim" board="pc"/>
@@ -224,7 +226,7 @@
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->