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[xml] final quadplane xml files rotwing (#3176)
* [xml] final quadplane xml files rotwing * Since no other airframes use crossfire AUX4 we can modify the original instead of making a copy
This commit is contained in:
Christophe De Wagter
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GitHub
GitHub
parent
9634e5615e
commit
80ad17cdfa
@@ -36,7 +36,7 @@
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<define name="USE_I2C1"/>
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<!-- Log in high speed (Remove for outdoor flights) -->
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<define name="IMU_LOG_HIGHSPEED" value="TRUE"/>
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<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
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</target>
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<target name="nps" board="pc">
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@@ -41,6 +41,9 @@
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<configure name="MAVLINK_PORT" value="UART8"/>
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</module> -->
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<!-- Log in high speed (Remove for outdoor flights) -->
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<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
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</target>
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<target name="nps" board="pc">
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@@ -317,8 +320,9 @@
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-6,-3,23}, .scale={{6478,36819,14396},{661,3766,1477}}}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-63,-15,-22}, .scale={{23554,58016,33455},{4537,11839,6837}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-40,-9,6}, .scale={{17919,36647,49183},{3659,7481,10067}}}}"/>
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<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-6,-3,23}, .scale={{6478,36819,14396},{661,3766,1477}}, .filter_sample_freq=1127, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-63,-15,-22}, .scale={{23554,58016,33455},{4537,11839,6837}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-40,-9,6}, .scale={{17919,36647,49183},{3659,7481,10067}}}}"/>
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<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-14,3,42}, .scale={{17279,2209,36874},{30247,3800,64095}}, .body_to_sensor={{0,16384,0,-16384,0,0,0,0,16384}}}}"/>
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<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1127, .filter_freq=30}}"/>
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<!-- Define axis in hover frame -->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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@@ -0,0 +1,212 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="70" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1070" name="Rotating wing Valkenburg" security_height="2">
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<header/>
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<waypoints>
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<waypoint name="HOME" x="12.6" y="-48.7"/>
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<waypoint name="CLIMB" x="62.6" y="-80.4"/>
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<waypoint name="trans" x="100." y="100."/>
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<waypoint name="decel" x="100." y="100."/>
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<waypoint name="end_trans" x="100." y="100."/>
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<waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
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<waypoint name="begin_trans" lat="52.168412" lon="4.4149282"/>
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<!--<waypoint name="p1" lat="52.1674262" lon="4.4141448"/>-->
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<waypoint name="p1" lat="52.1672408" lon="4.4144528"/>
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<waypoint name="p2" lat="52.1682897" lon="4.4138441"/>
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<waypoint name="p3" lat="52.1687878" lon="4.4155648"/>
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<waypoint name="p4" lat="52.1678559" lon="4.4164701"/>
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<waypoint name="circ" lat="52.1684116" lon="4.4149282"/>
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<waypoint name="TD" lat="52.1681602" lon="4.4127708"/>
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<waypoint name="APP" lat="52.1679567" lon="4.4136344"/>
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<waypoint name="FOLLOW" lat="52.16850964562752" lon="4.413635008734417"/>
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<waypoint lat="52.169189" lon="4.410820" name="C1"/>
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<waypoint lat="52.168049" lon="4.406923" name="C2"/>
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<waypoint lat="52.166515" lon="4.408235" name="C3"/>
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<waypoint lat="52.163255" lon="4.407668" name="C4"/>
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<waypoint lat="52.161908" lon="4.410082" name="C5"/>
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<waypoint lat="52.162641" lon="4.416992" name="C6"/>
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<waypoint lat="52.164861" lon="4.427268" name="C7"/>
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<waypoint lat="52.170422" lon="4.427511" name="C8"/>
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<waypoint lat="52.172276" lon="4.424011" name="C9"/>
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</waypoints>
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<sectors>
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<sector color="red" name="Flyzone">
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<corner name="C1"/>
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<corner name="C2"/>
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<corner name="C3"/>
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<corner name="C4"/>
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<corner name="C5"/>
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<corner name="C6"/>
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<corner name="C7"/>
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<corner name="C8"/>
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<corner name="C9"/>
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</sector>
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</sectors>
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<modules>
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<!--<module name="follow_me"/>-->
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</modules>
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<exceptions>
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<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
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<exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
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</block>
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<block name="Geo init">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call_once fun="NavSetAltitudeReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<call_once fun="NavKillThrottle()"/>
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<set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<call_once fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
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<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
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</block>
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<block name="Climb">
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<exception cond="GetPosAlt() @GT 20.0" deroute="Standby"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<call_once fun="nav_set_heading_current()"/>
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<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="Approach APP">
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
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</block>
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<!--<block name="follow_module">
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<set value="false" var="force_forward"/>
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<stay pre_call="follow_me_set_wp(WP_FOLLOW, 0)" wp="FOLLOW"/>
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</block>-->
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<block name="stay_begin-trans">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="line_trans_fwd">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
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<call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
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<go wp="end_trans"/>
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<deroute block="end_transition"/>
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</block>
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<block name="end_transition">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<stay wp="end_trans"/>
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</block>
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<block name="transition_CW">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
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<stay wp="end_trans"/>
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<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
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</block>
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<block name="transition_CCW">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
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<stay wp="end_trans"/>
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<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
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</block>
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<block name="route">
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
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<set value="50" var="nav_max_speed"/>
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<go from="p1" hmode="route" wp="p2"/>
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<go from="p2" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="route"/>
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</block>
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<block name="small_route" strip_button="Route" strip_icon="path.png">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
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<go wp="p2"/>
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<go wp="p3"/>
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<go wp="p4"/>
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<go wp="p1"/>
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<deroute block="small_route"/>
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</block>
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<block name="Circle_CW_fwd" strip_button="CircleRight" strip_icon="circle-right.png">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
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<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="Circle_CCW_fwd" strip_button="CircleLeft" strip_icon="circle-left.png">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
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<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="big_Circle_CW_fwd">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
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<circle radius="150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="big_Circle_CCW_fwd">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
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<circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
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</block>
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<block name="Transition_quad">
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<set value="50" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
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<go wp="STDBY"/>
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<deroute block="Standby"/>
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</block>
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<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="land">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<go wp="TD"/>
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</block>
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<block name="descend">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<exception cond="GetPosAlt() @LT 12.0" deroute="flare"/>
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<stay climb="-1.0" vmode="climb" wp="TD"/>
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</block>
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<block name="flare">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<stay climb="-0.5" vmode="climb" wp="TD"/>
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<!--<exception cond="!(GetPosAlt() @LT 2.0)" deroute="flare_low"/>-->
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<exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="flare_low"/>
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</block>
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<block name="flare_low">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
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<exception cond="ground_detect()" deroute="Holding point"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="-0.5" vmode="climb" wp="TD"/>
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</block>
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<block name="landed">
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<set value="7" var="nav_max_speed"/>
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<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -9,7 +9,7 @@
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<channel function="AUX1" min="1100" neutral="1500" max="1900" average="1"/> <!-- TH_HOLD -->
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<channel function="AUX2" min="1100" neutral="1500" max="1900" average="1"/> <!-- FMODE -->
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<channel function="AUX3" min="1100" neutral="1500" max="1900" average="1"/> <!-- FBW_MODE -->
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<channel function="AUX4" min="1100" neutral="1500" max="1900" average="1"/>
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<channel function="AUX4" min="1100" neutral="1100" max="1900" average="1"/> <!-- PUSHER/FLAPS -->
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<channel function="AUX5" min="1100" neutral="1500" max="1900" average="1"/>
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<channel function="AUX6" min="1100" neutral="1500" max="1900" average="1"/>
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<channel function="AUX7" min="1100" neutral="1500" max="1900" average="1"/>
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@@ -73,7 +73,7 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/delft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi_simple.xml"
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gui_color="#ffffcccaccca"
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/>
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<aircraft
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@@ -577,9 +577,9 @@
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airframe="airframes/tudelft/rot_wing_v3b.xml"
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radio="radios/crossfire_sbus.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/rotating_wing25kg_EHVB.xml"
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flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml modules/wing_rotation_controller_servo.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml modules/wing_rotation_controller_servo.xml"
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gui_color="red"
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/>
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<aircraft
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@@ -588,20 +588,20 @@
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airframe="airframes/tudelft/rot_wing_25kg.xml"
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radio="radios/crossfire_sbus.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/rotating_wing25kg_EHVB.xml"
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flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
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settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/ctrl_eff_sched_rot_wing.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml"
|
||||
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="nav_hybrid_test"
|
||||
ac_id="23"
|
||||
ac_id="31"
|
||||
airframe="airframes/tudelft/hybrid_nav_test.xml"
|
||||
radio="radios/crossfire_sbus.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings=""
|
||||
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
</conf>
|
||||
|
||||
Reference in New Issue
Block a user