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[board] basic support of matek h743 slim (#3001)
only flashing with DFU for now default orientation for MPU6000 imu fix small bugs
This commit is contained in:
Gautier Hattenberger
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GitHub
GitHub
parent
b152b927b3
commit
7f620c0449
@@ -0,0 +1,280 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Matek_H743">
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<description>
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Mateksys FC H743 SLIM test board
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</description>
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<firmware name="rotorcraft">
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<configure name="RTOS_DEBUG" value="0"/>
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<target name="ap" board="matek_h743_slim">
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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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</target>
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<module name="radio_control" type="sbus"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</module>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="usb_serial"/>
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</module>
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<module name="imu" type="matek_h743_slim">
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<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
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<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>
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</module>
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<module name="gps" type="optitrack"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins"/>
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<module name="air_data"/>
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<module name="sys_mon"/>
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<module name="shell">
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<configure name="SHELL_PORT" value="usb_serial_debug"/>
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</module>
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</firmware>
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<servos driver="Pwm">
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<servo name="FL" no="4" min="1000" neutral="1200" max="2000"/>
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<servo name="FR" no="2" min="1000" neutral="1200" max="2000"/>
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<servo name="BR" no="1" min="1000" neutral="1200" max="2000"/>
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<servo name="BL" no="3" min="1000" neutral="1200" max="2000"/>
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</servos>
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<commands>
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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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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
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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="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="-42"/>
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<define name="ACCEL_Y_NEUTRAL" value="64"/>
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<define name="ACCEL_Z_NEUTRAL" value="-155"/>
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<define name="ACCEL_X_SENS" value="2.43600300517" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.43442233815" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.46007236396" integer="16"/>
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<!-- MPU MAG -->
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="1"/>
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<define name="MAG_Z_SIGN" value="-1"/>
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<define name="MAG_X_NEUTRAL" value="-53"/>
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<define name="MAG_Y_NEUTRAL" value="-17"/>
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<define name="MAG_Z_NEUTRAL" value="-29"/>
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<define name="MAG_X_SENS" value="14.1339051912" integer="16"/>
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<define name="MAG_Y_SENS" value="15.9334896814" integer="16"/>
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<define name="MAG_Z_SENS" value="15.9429325263" integer="16"/>
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<!--define name= "MAG_X_CURRENT_COEF" value="0.0350248861409"/>
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<define name= "MAG_Y_CURRENT_COEF" value="-0.0118884242797"/>
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<define name= "MAG_Z_CURRENT_COEF" value="0.0176235525201"/-->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module if loaded -->
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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<define name="USE_GPS_HEADING" value="TRUE"/>
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="300" unit="deg/s"/>
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<define name="SP_MAX_Q" value="300" unit="deg/s"/>
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<define name="SP_MAX_R" value="240" unit="deg/s"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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<define name="GAIN_P" value="1000"/>
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<define name="GAIN_Q" value="1000"/>
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<define name="GAIN_R" value="800"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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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="200." 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="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." 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="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." 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="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="250." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="500"/>
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<define name="PHI_DGAIN" value="260"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="500"/>
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<define name="THETA_DGAIN" value="260"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="1279"/>
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<define name="PSI_DGAIN" value="802"/>
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<define name="PSI_IGAIN" value="31"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="300"/>
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<define name="THETA_DDGAIN" value="300"/>
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<define name="PSI_DDGAIN" value="300"/>
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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="0.018284"/>
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<define name="G1_Q" value="0.017385"/>
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<define name="G1_R" value="0.0024217"/>
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<define name="G2_R" value="-0.30628"/-->
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<define name="G1_P" value="0.025483"/>
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<define name="G1_Q" value="0.022144"/>
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<define name="G1_R" value="0.0023438"/>
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<define name="G2_R" value="-0.23538"/>
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<define name="FILTER_ROLL_RATE" value="TRUE"/>
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<define name="FILTER_PITCH_RATE" value="TRUE"/>
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<define name="FILTER_YAW_RATE" value="FALSE"/>
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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_R" value="3.2"/>
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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="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
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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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<define name="REF_MAX_SPEED" value="0.5" unit="m/s"/>
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="180"/>
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<define name="DGAIN" value="180"/>
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<define name="AGAIN" value="0"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="DESCEND_VSPEED" value="-0.4"/>
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<define name="CLIMB_VSPEED" value="0.25"/>
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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="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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</section>
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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_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="ARRIVED_AT_WAYPOINT" value="0.5"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
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<define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000" unit="mA"/>
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<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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<define name="AC_ICON" value="quadrotor_x"/>
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</section>
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</airframe>
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