added a vehicle for some simulation tests

2026-06-06 07:53:43 +08:00 · 2010-03-15 15:37:47 +00:00
parent f23f133e58
commit 789a19d5a7
2 changed files with 403 additions and 0 deletions
@@ -0,0 +1,230 @@
+<airframe name="BOOZ2_a1">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"  no="3" min="0" neutral="0" max="255"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
+    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
+    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_CHAN" value="1"/>
+    <define name="GYRO_Q_CHAN" value="0"/>
+    <define name="GYRO_R_CHAN" value="2"/>
+
+    <define name="GYRO_P_NEUTRAL" value="33924"/>
+    <define name="GYRO_Q_NEUTRAL" value="33417"/>
+    <define name="GYRO_R_NEUTRAL" value="32809"/>
+
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+    <define name="ACCEL_X_CHAN" value="3"/>
+    <define name="ACCEL_Y_CHAN" value="5"/>
+    <define name="ACCEL_Z_CHAN" value="6"/>
+
+    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+
+    <define name="MAG_X_CHAN" value="4"/>
+    <define name="MAG_Y_CHAN" value="0"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+    <define name="MAG_X_NEUTRAL" value="2358"/>
+    <define name="MAG_Y_NEUTRAL" value="2362"/>
+    <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
+    <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>
+    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+<!--    <define name="MAG_45_HACK" value="1"/> -->
+<!--    <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
+<!--    <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
+<!--    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
+<!--    <define name="MAG_Y_SENS" value=" 3.607713"  integer="16"/> -->
+
+   <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(4.)"/>
+   <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
+   <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.9"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.9"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.9"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="-400"/>
+    <define name="PHI_DGAIN"  value="-300"/>
+    <define name="PHI_IGAIN"  value="-100"/>
+
+    <define name="THETA_PGAIN"  value="-400"/>
+    <define name="THETA_DGAIN"  value="-300"/>
+    <define name="THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="ARHS" prefix="AHRS_">
+    <define name="H_X" value="0.4912"/>
+    <define name="H_Y" value="0.1225"/>
+    <define name="H_Z" value="0.8624"/>
+  </section>
+
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="15." integer="16"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR" value="2000000"/>
+   <define name="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
+   <define name="HOVER_KI"    value="-100"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+<!--   <define name="INV_M" value ="0.2"/> -->
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+ </section>
+
+
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1p.h&quot;"/>
+ </section>
+
+
+
+
+  <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz_ahrs_mlkf.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+  </makefile>
+
+</airframe>
@@ -0,0 +1,173 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009 Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#ifndef NPS_SENSORS_PARAMS_H
+#define NPS_SENSORS_PARAMS_H
+
+#include "airframe.h"
+
+#if 1
+#define NPS_BODY_TO_IMU_PHI    IMU_BODY_TO_IMU_PHI
+#define NPS_BODY_TO_IMU_THETA  IMU_BODY_TO_IMU_THETA
+#define NPS_BODY_TO_IMU_PSI    IMU_BODY_TO_IMU_PSI
+#else
+#define NPS_BODY_TO_IMU_PHI    RadOfDeg(0.)
+#define NPS_BODY_TO_IMU_THETA  RadOfDeg(0.)
+#define NPS_BODY_TO_IMU_PSI    RadOfDeg(0.)
+#endif
+
+/* 
+ * Accelerometer 
+ */
+#define NPS_ACCEL_RESOLUTION      (65536)
+/* ms-2 */
+/* aka 2^10/ACCEL_X_SENS  */
+#define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(-1./2.50411474)
+#define NPS_ACCEL_SENSITIVITY_YY  ACCEL_BFP_OF_REAL(-1./2.48126183)
+#define NPS_ACCEL_SENSITIVITY_ZZ  ACCEL_BFP_OF_REAL(-1./2.51396167)
+
+#define NPS_ACCEL_NEUTRAL_X       32081
+#define NPS_ACCEL_NEUTRAL_Y       33738
+#define NPS_ACCEL_NEUTRAL_Z       32441
+/* m2s-4 */
+#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
+#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
+#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
+/* ms-2 */
+#define NPS_ACCEL_BIAS_X          0
+#define NPS_ACCEL_BIAS_Y          0
+#define NPS_ACCEL_BIAS_Z          0
+/* s */
+#define NPS_ACCEL_DT              (1./512.)
+
+
+
+/*
+ * Gyrometer
+ */
+#define NPS_GYRO_RESOLUTION       65536
+
+/* 2^12/GYRO_X_SENS */
+#define NPS_GYRO_SENSITIVITY_PP   RATE_BFP_OF_REAL( 1./1.01)
+#define NPS_GYRO_SENSITIVITY_QQ   RATE_BFP_OF_REAL(-1./1.01)
+#define NPS_GYRO_SENSITIVITY_RR   RATE_BFP_OF_REAL(-1./1.01)
+
+#define NPS_GYRO_NEUTRAL_P        33924
+#define NPS_GYRO_NEUTRAL_Q        33417
+#define NPS_GYRO_NEUTRAL_R        32809
+
+#define NPS_GYRO_NOISE_STD_DEV_P  RadOfDeg(0.1)
+#define NPS_GYRO_NOISE_STD_DEV_Q  RadOfDeg(0.1)
+#define NPS_GYRO_NOISE_STD_DEV_R  RadOfDeg(0.1)
+
+#define NPS_GYRO_BIAS_INITIAL_P   RadOfDeg( 2.0)
+#define NPS_GYRO_BIAS_INITIAL_Q   RadOfDeg( 1.0)
+#define NPS_GYRO_BIAS_INITIAL_R   RadOfDeg(-5.0)
+
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.0)
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.0)
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.0)
+/* s */
+#define NPS_GYRO_DT (1./512.)
+
+
+
+/*
+ *  Magnetometer
+ */
+//#define BSM_MAG_RESOLUTION 65536
+
+#define NPS_MAG_IMU_TO_SENSOR_PHI              0.
+#define NPS_MAG_IMU_TO_SENSOR_THETA            0.
+#define NPS_MAG_IMU_TO_SENSOR_PSI              0.
+
+#define NPS_MAG_SENSITIVITY_XX   MAG_BFP_OF_REAL(-1./4.94075530)
+#define NPS_MAG_SENSITIVITY_YY   MAG_BFP_OF_REAL( 1./5.10207664)
+#define NPS_MAG_SENSITIVITY_ZZ   MAG_BFP_OF_REAL(-1./4.90788848)
+
+#define NPS_MAG_NEUTRAL_X  2358
+#define NPS_MAG_NEUTRAL_Y  2362
+#define NPS_MAG_NEUTRAL_Z  2119
+
+#define NPS_MAG_NOISE_STD_DEV_X  2e-3
+#define NPS_MAG_NOISE_STD_DEV_Y  2e-3
+#define NPS_MAG_NOISE_STD_DEV_Z  2e-3
+
+#define NPS_MAG_DT (1./100.)
+
+
+/*
+ *  Range meter
+ */
+#define BSM_RANGEMETER_RESOLUTION  (1024)
+#define BSM_RANGEMETER_SENSITIVITY (1024. / 12.)
+#define BSM_RANGEMETER_MAX_RANGE   (6. * BSM_RANGEMETER_SENSITIVITY)
+#define BSM_RANGEMETER_DT          (1./20.)
+
+
+/*
+ *  Barometer
+ */
+/* m */
+/* aka 2^8/INS_BARO_SENS  */
+#define NPS_BARO_QNH             900.
+#define NPS_BARO_SENSITIVITY      17.066667
+#define NPS_BARO_DT              (1./100.)
+#define NPS_BARO_NOISE_STD_DEV     5.e-2
+
+/*
+ *  GPS
+ */
+
+#ifdef GPS_PERFECT
+
+#define NPS_GPS_SPEED_NOISE_STD_DEV            0.
+#define NPS_GPS_SPEED_LATENCY                  0.
+#define NPS_GPS_POS_NOISE_STD_DEV              0.001
+#define NPS_GPS_POS_BIAS_INITIAL_X             0.
+#define NPS_GPS_POS_BIAS_INITIAL_Y             0.
+#define NPS_GPS_POS_BIAS_INITIAL_Z             0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
+#define NPS_GPS_POS_LATENCY                    0.
+
+#else
+
+#define NPS_GPS_SPEED_NOISE_STD_DEV            1
+#define NPS_GPS_SPEED_LATENCY                  0.8
+#define NPS_GPS_POS_NOISE_STD_DEV              2
+#define NPS_GPS_POS_BIAS_INITIAL_X             0e-1
+#define NPS_GPS_POS_BIAS_INITIAL_Y            -0e-1
+#define NPS_GPS_POS_BIAS_INITIAL_Z            -0e-1
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
+#define NPS_GPS_POS_LATENCY                    0.8
+
+#endif /* GPS_PERFECT */
+
+#define NPS_GPS_DT                           (1./4.)
+
+#endif /* NPS_SENSORS_PARAMS_H */