Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

update ENAC airframes

Browse Source
This commit is contained in:
Gautier Hattenberger
2010-12-20 13:41:13 +01:00
parent 12ea204e33
commit 7b2931b2f6
8 changed files with 1030 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/fixed-wing/funjet2.xml
+8 -8
View File
@@ -14,15 +14,15 @@
<modules> <modules>
<load name="light.xml"> <load name="light.xml">
<param name="LIGHT_LED_STROBE" value="5"/> <define name="LIGHT_LED_STROBE" value="5"/>
<param name="LIGHT_LED_NAV" value="3"/> <define name="LIGHT_LED_NAV" value="3"/>
</load> </load>
<load name="infrared_i2c.xml"/> <load name="infrared_i2c.xml"/>
<load name="pbn.xml"/> <load name="pbn.xml"/>
<!--load name="airspeed_adc.xml"> <!--load name="airspeed_adc.xml">
<define name="ADC_AIRSPEED" value="ADC_4"/> <configure name="ADC_AIRSPEED" value="ADC_4"/>
<flag name="AIRSPEED_SCALE" value="1"/> <define name="AIRSPEED_SCALE" value="1"/>
<flag name="AIRSPEED_BIAS" value="0"/> <define name="AIRSPEED_BIAS" value="0"/>
</load--> </load-->
<!--load name="airspeed_ets.xml"/> <!--load name="airspeed_ets.xml"/>
<load name="baro_ets.xml"/--> <load name="baro_ets.xml"/-->
@@ -36,7 +36,7 @@
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11">
<param name="FLASH_MODE" value="IAP"/> <configure name="FLASH_MODE" value="IAP"/>
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -51,11 +51,11 @@
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gyro" type="roll"> <subsystem name="gyro" type="roll">
<param name="ADC_GYRO_ROLL" value="ADC_5"/> <configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem> </subsystem>
<subsystem name="current_sensor"> <subsystem name="current_sensor">
<param name="ADC_CURRENT_SENSOR" value="ADC_3"/> <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem> </subsystem>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+12 -17
View File
@@ -14,8 +14,8 @@
<modules> <modules>
<load name="light.xml"> <load name="light.xml">
<param name="LIGHT_LED_STROBE" value="5"/> <define name="LIGHT_LED_STROBE" value="5"/>
<param name="LIGHT_LED_NAV" value="3"/> <define name="LIGHT_LED_NAV" value="3"/>
</load> </load>
<load name="infrared_i2c.xml"/> <load name="infrared_i2c.xml"/>
<load name="pbn.xml"/> <load name="pbn.xml"/>
@@ -23,20 +23,15 @@
</modules> </modules>
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"> <define name="AGR_CLIMB"/>
<define name="AGR_CLIMB"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/> <define name="PITCH_TRIM"/>
<define name="PITCH_TRIM"/> <define name="USE_I2C0"/>
<define name="USE_I2C0"/> <define name="USE_AIRSPEED"/>
<define name="USE_AIRSPEED"/>
</target> <target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11">
<param name="FLASH_MODE" value="IAP"/> <configure name="FLASH_MODE" value="IAP"/>
<define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<define name="PITCH_TRIM"/>
<define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/>
<define name="SPI_MASTER"/> <define name="SPI_MASTER"/>
<define name="USE_SPI_SLAVE0"/> <define name="USE_SPI_SLAVE0"/>
</target> </target>
@@ -54,11 +49,11 @@
<!-- Sensors --> <!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gyro" type="roll"> <subsystem name="gyro" type="roll">
<param name="ADC_GYRO_ROLL" value="ADC_5"/> <configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem> </subsystem>
<subsystem name="current_sensor"> <subsystem name="current_sensor">
<param name="ADC_CURRENT_SENSOR" value="ADC_3"/> <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem> </subsystem>
<subsystem name="navigation"/> <subsystem name="navigation"/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+234
View File
@@ -0,0 +1,234 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
IR i2c
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
Radiotronix modem
LEA 5H GPS
Airspeed sensor
Digital camera
-->
<airframe name="Funjet Tiny 2.11">
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</load>
<load name="infrared_i2c.xml"/>
<load name="pbn.xml"/>
<load name="ins_vn100.xml"/>
</modules>
<firmware name="fixedwing">
<define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<define name="PITCH_TRIM"/>
<define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/>
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11">
<configure name="FLASH_MODE" value="IAP"/>
<define name="SPI_MASTER"/>
<define name="USE_SPI_SLAVE0"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<!--subsystem name="joystick"/-->
<subsystem name="i2c"/>
<subsystem name="spi"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control" type="new"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
</subsystem>
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="IR1_NEUTRAL" value="-5"/>
<define name="IR2_NEUTRAL" value="0"/>
<define name="TOP_NEUTRAL" value="-10"/>
<define name="I2C_DEFAULT_CONF" value="1"/>
<define name="LATERAL_CORRECTION" value="1"/>
<define name="LONGITUDINAL_CORRECTION" value="1"/>
<define name="VERTICAL_CORRECTION" value="1"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
</section>
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="487"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.08"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.001"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
<define name="AIRSPEED_MAX" value="22"/>
<define name="AIRSPEED_MIN" value="12"/>
<!-- pitch trim -->
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
<define name="ROLL_RATE_GAIN" value="-3000."/>
<define name="ROLL_IGAIN" value="-0"/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="-1000"/>
<define name="PITCH_IGAIN" value="-300"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="10"/>
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
</section>
</airframe>
conf/airframes/ENAC/fixed-wing/merlin.xml
+6 -9
View File
@@ -10,19 +10,15 @@
<airframe name="Merlin"> <airframe name="Merlin">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="tiny_2.11"> <define name="PITCH_TRIM"/>
<define name="PITCH_TRIM"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/>
</target>
<target name="sim" board="pc"> <target name="ap" board="tiny_2.11"/>
<define name="PITCH_TRIM"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="control_new"/> <subsystem name="control"/>
<subsystem name="attitude" type="infrared"/> <subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/> <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
@@ -169,6 +165,7 @@
<define name="PITCH_KFFD" value="0."/> <define name="PITCH_KFFD" value="0."/>
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/> <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
</section> </section>
<section name="NAV"> <section name="NAV">
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+7 -12
View File
@@ -15,25 +15,20 @@
<!--load name="max3100.xml"/> <!--load name="max3100.xml"/>
<load name="gsm.xml"/--> <load name="gsm.xml"/-->
<load name="demo_module.xml"> <load name="demo_module.xml">
<flag name="TEST" value="1"/> <define name="TEST" value="1"/>
<flag name="TEST_FLAG"/> <define name="TEST_FLAG"/>
</load> </load>
<!--load name="enose.xml"/--> <!--load name="enose.xml"/-->
<load name="light.xml"/> <load name="light.xml"/>
</modules> </modules>
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="tiny_2.11"> <define name="PITCH_TRIM"/>
<define name="PITCH_TRIM"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/> <define name="USE_I2C0"/>
<define name="USE_I2C0"/>
</target>
<target name="sim" board="pc"> <target name="ap" board="tiny_2.11"/>
<define name="PITCH_TRIM"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C0"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/> <subsystem name="telemetry" type="xbee_api"/>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+243
View File
@@ -0,0 +1,243 @@
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<!--load name="vision_cmucam.xml"/-->
<load name="sonar_maxbotix_booz.xml"/>
<load name="booz_extra_dl.xml"/>
<load name="booz_gumstix_com.xml"/>
</modules>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" 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="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="6"/>
<define name="TRIM_R" value="0"/>
</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="32238"/>
<define name="GYRO_Q_NEUTRAL" value="32391"/>
<define name="GYRO_R_NEUTRAL" value="32853"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="33067"/>
<define name="ACCEL_Y_NEUTRAL" value="32778"/>
<define name="ACCEL_Z_NEUTRAL" value="32140"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
<define name="MAG_Y_SENS" value="21.79885" integer="16"/>
<define name="MAG_Z_SENS" value="14.675745" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(1.3)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-2.6)"/>
<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="0.85"/>
<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="0.85"/>
<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="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<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="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
<define name="ACCEL_NOISE" value="10."/>
<define name="R_POS" value="0.05"/>
<define name="R_POS_MIN" value="0."/>
<define name="R_SPEED" value="1."/>
<define name="R_SPEED_MIN" value="0."/>
</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="REF_MIN_ZDD" value="-1.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value="0.118"/> -->
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-0"/>
<define name="NGAIN" value="-0"/>
<!-- feedforward -->
<define name="AGAIN" value="50"/>
</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="0.183" 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_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="FMS">
</section>
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</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;reset_enac&quot;"/-->
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DR_POS=0.1
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.CFLAGS += -DUSE_MODULES
</makefile>
</airframe>
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+278
View File
@@ -0,0 +1,278 @@
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
<airframe name="Booz Mkk1 Enac">
<modules main_freq="512">
<load name="vision_cmucam.xml"/>
<load name="sonar_maxbotix_booz.xml"/>
</modules>
<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="{ 0x58, 0x52, 0x54, 0x56 }"/>
</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="30907"/>
<define name="GYRO_Q_NEUTRAL" value="33253"/>
<define name="GYRO_R_NEUTRAL" value="32329"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-62"/>
<define name="MAG_Y_NEUTRAL" value="-13"/>
<define name="MAG_Z_NEUTRAL" value="-95"/>
<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
<!--define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
<define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
<define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<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_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(90.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<!--define name="SONAR_SENS" value="2.146" integer="16"/-->
<define name="SONAR_SENS" value="3." integer="16"/>
</section>
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
<define name="ACCEL_NOISE" value="10."/>
<define name="R_POS" value="0.01"/>
<define name="R_POS_MIN" value="0."/>
<define name="R_SPEED" value="0.01"/>
<define name="R_SPEED_MIN" value="0."/>
</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="REF_MIN_ZDD" value="-1.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="0"/>
<!-- 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"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-250"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-35"/>
<define name="NGAIN" value="-0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" 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_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</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="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
#ap.CFLAGS += -DBOOZ2_SONAR -DUSE_SONAR_1
#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro_sonar.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
ap.CFLAGS += -DUSE_MODULES
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
sim.CFLAGS += -DUSE_MODULES
</makefile>
</airframe>
conf/airframes/ENAC/quadrotor/nova1.xml
+242
View File
@@ -0,0 +1,242 @@
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
<airframe name="Nova+Lisa_L Enac">
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
</firmware>
<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="{ 0x58, 0x52, 0x54, 0x56 }"/>
</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_NEUTRAL" value="30907"/>
<define name="GYRO_Q_NEUTRAL" value="33253"/>
<define name="GYRO_R_NEUTRAL" value="32329"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32913"/>
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-62"/>
<define name="MAG_Y_NEUTRAL" value="-13"/>
<define name="MAG_Z_NEUTRAL" value="-95"/>
<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-135.)"/>
</section>
<section name="STABILIZATION_RATE" prefix="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_RATE" prefix="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="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(90.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-650"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-650"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-800"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="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="REF_MIN_ZDD" value="-1.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="0"/>
<!-- 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"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-60"/>
<define name="DGAIN" value="-120"/>
<define name="IGAIN" value="-10"/>
<define name="NGAIN" value="-0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
</section>
<section name="MISC">
<define name="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="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<makefile>
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
#set GPS lag for horizontal filter
#ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
#sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
</makefile>
</airframe>