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Starting to get the airframes together though they don't build yet. Maybe someone else with more experience can assist. ;-) either that or I'll RTFM and get them together in time.

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This commit is contained in:
Bernard Davison
2012-02-14 12:13:42 +11:00
parent ef76c8a866
commit 840d8c5836
6 changed files with 306 additions and 11 deletions
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conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
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@@ -1,2 +1,193 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
This airframe is connected to the build server and is used for hardware testing.
The hardware configuration is
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
Aspirin v1.5
overo
-->
<airframe name="TestConfig">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.1">
<configure name="PERIODIC_FREQUENCY" value="120"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="navigation"/>
</firmware>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
</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="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</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="50" unit="deg"/>
<define name="MAX_PITCH" value="35" unit="deg"/>
</section>
<section name="BAT">
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</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="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-14"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</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="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
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@@ -1,2 +1,24 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
This airframe is connected to the build server and is used for hardware testing.
The hardware configuration is
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
Aspirin v1.5
overo
-->
<airframe name="TestConfig">
<firmware name="rotorcraft">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
+59
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@@ -1,2 +1,61 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
This airframe is connected to the build server and is used for hardware testing.
The hardware configuration is
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
Booz2 v1.2
GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
-->
<airframe name="TestConfig">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
</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="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</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="50" unit="deg"/>
<define name="MAX_PITCH" value="35" unit="deg"/>
</section>
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+23
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@@ -1,2 +1,25 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
This airframe is connected to the build server and is used for hardware testing.
The hardware configuration is
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
Booz2 v1.2
GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
-->
<airframe name="TestConfig">
<firmware name="rotorcraft">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
</airframe>
conf/conf.xml.example
+5 -5
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@@ -18,13 +18,13 @@
<!-- LISA -->
<aircraft
name="Hexa_LisaL"
ac_id="153"
airframe="airframes/Poine/h_hex.xml"
name="LisaL11_Aspirin15_overo_FW"
ac_id="1"
airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/telemetry_booz2.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/settings_booz2.xml"
settings="settings/basic_ins.xml settings/tuning_ins.xml"
gui_color="white"
/>
<aircraft