mirror of
https://github.com/paparazzi/paparazzi.git
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Created user-specific xml files and placed these into user-specific folders.
This commit is contained in:
Deon Blaauw
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop2_indi">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2">
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<define name="STABILIZATION_INDI_G2_R" value="0.20"/>
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<!--define name="FAILSAFE_GROUND_DETECT"/-->
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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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<module name="udp"/>
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<!-- rotor inertia not modelled in simple_quad JSBSim model, set G2 to zero -->
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<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
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</target>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module>
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<module name="ins" type="extended"/>
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<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
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</firmware>
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<modules main_freq="512">
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<module name="geo_mag"/>
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<module name="air_data"/>
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<!-- <module name="send_imu_mag_current"/>-->
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</module>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="REVERSE" value="TRUE"/>
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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_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="18"/>
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<define name="MAG_Y_NEUTRAL" value="46"/>
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<define name="MAG_Z_NEUTRAL" value="202"/>
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<define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
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<define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
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<define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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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 -->
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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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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="35" unit="deg"/>
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<define name="SP_MAX_THETA" value="35" unit="deg"/>
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<define name="SP_MAX_R" value="400" 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="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." 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="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." 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="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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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="0.05"/>
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<define name="G1_Q" value="0.025"/>
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<define name="G1_R" value="0.0022"/>
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="TRUE"/>
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<define name="FILTER_PITCH_RATE" value="FALSE"/>
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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_OMEGA" value="20.0"/>
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<define name="FILT_ZETA" value="0.55"/>
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<define name="FILT_OMEGA_R" value="20.0"/>
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<define name="FILT_ZETA_R" value="0.55"/>
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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="350"/>
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<define name="HOVER_KD" value="85"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.55"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="12" unit="deg"/>
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<define name="REF_MAX_SPEED" value="1" unit="m/s"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="120"/>
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<define name="DGAIN" value="100"/>
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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="CLIMB_VSPEED" value="1.0"/>
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<define name="DESCEND_VSPEED" value="-0.5"/>
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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="simple_x_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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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_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -0,0 +1,88 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="1.5" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="8" name="Bebop2 Testing CyberZoo" security_height="0.4">
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<header>
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#include "autopilot.h"
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#include "subsystems/ahrs.h"
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#include "subsystems/electrical.h"
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#include "subsystems/datalink/datalink.h"
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</header>
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<waypoints>
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<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
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<waypoint height="2.2" name="CLIMB" x="1.2" y="-0.6"/>
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<waypoint height="1.0" name="STDBY" x="-0.7" y="-0.8"/>
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<waypoint name="TD" x="0.8" y="-1.7"/>
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<waypoint lat="51.9906213" lon="4.3768628" name="_CZ1"/>
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<waypoint lat="51.9905874" lon="4.3767766" name="_CZ2"/>
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<waypoint lat="51.9906409" lon="4.3767226" name="_CZ3"/>
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<waypoint lat="51.990667" lon="4.376806" name="_CZ4"/>
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<waypoint lat="51.990624" lon="4.376845" name="_OZ1"/>
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<waypoint lat="51.990601" lon="4.376782" name="_OZ2"/>
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<waypoint lat="51.990638" lon="4.376748" name="_OZ3"/>
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<waypoint lat="51.990657" lon="4.376804" name="_OZ4"/>
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</waypoints>
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<sectors>
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<sector color="red" name="CyberZoo">
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<corner name="_CZ1"/>
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<corner name="_CZ2"/>
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<corner name="_CZ3"/>
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<corner name="_CZ4"/>
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</sector>
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<sector color="#FF9922" name="ObstacleZone">
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<corner name="_OZ1"/>
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<corner name="_OZ2"/>
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<corner name="_OZ3"/>
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<corner name="_OZ4"/>
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</sector>
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</sectors>
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<exceptions>
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<exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>
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<!--<exception cond="datalink_time > 22" deroute="Land here"/>-->
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<!-- <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
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<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>-->
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<call fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 2)"/>
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<call fun="NavSetGroundReferenceHere()"/> <!-- This sets the altitude ref -->
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<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
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</block>
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<block name="Holding point">
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<call fun="NavKillThrottle()"/>
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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 key="r" name="Start Engine">
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<call fun="NavResurrect()"/>
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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 key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="stateGetPositionEnu_f()->z > 0.9" deroute="Standby"/>
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<call fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
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<!-- <call fun="NavSetWaypointHere(WP_STDBY)"/>-->
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<stay wp="STDBY"/>
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</block>
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<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
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<call fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="Land">
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<go wp="TD"/>
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</block>
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<block name="Flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="Landed"/>
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<call fun="NavStartDetectGround()"/>
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<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="Landed">
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<call fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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||||||
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</block>
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||||||
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</blocks>
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</flight_plan>
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@@ -0,0 +1,93 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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||||||
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||||||
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<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
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||||||
|
<header>
|
||||||
|
#include "autopilot.h"
|
||||||
|
</header>
|
||||||
|
<waypoints>
|
||||||
|
<waypoint name="HOME" x="0.0" y="0.0"/>
|
||||||
|
<waypoint name="CLIMB" x="0.0" y="5.0"/>
|
||||||
|
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
|
||||||
|
<waypoint name="p1" x="3.6" y="-13.9"/>
|
||||||
|
<waypoint name="p2" x="27.5" y="-48.2"/>
|
||||||
|
<waypoint name="p3" x="16.7" y="-19.6"/>
|
||||||
|
<waypoint name="p4" x="13.7" y="-40.7"/>
|
||||||
|
<waypoint name="CAM" x="-20" y="-50" height="2."/>
|
||||||
|
<waypoint name="TD" x="5.6" y="-10.9"/>
|
||||||
|
</waypoints>
|
||||||
|
<blocks>
|
||||||
|
<block name="Wait GPS">
|
||||||
|
<call fun="NavKillThrottle()"/>
|
||||||
|
<while cond="!GpsFixValid()"/>
|
||||||
|
</block>
|
||||||
|
<block name="Geo init">
|
||||||
|
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||||
|
<call fun="NavSetGroundReferenceHere()"/>
|
||||||
|
<!--<call fun="NavSetAltitudeReferenceHere()"/>-->
|
||||||
|
</block>
|
||||||
|
<block name="Holding point">
|
||||||
|
<call fun="NavKillThrottle()"/>
|
||||||
|
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||||
|
</block>
|
||||||
|
<block name="Start Engine">
|
||||||
|
<call fun="NavResurrect()"/>
|
||||||
|
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||||
|
</block>
|
||||||
|
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||||
|
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
|
||||||
|
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||||
|
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
|
||||||
|
</block>
|
||||||
|
<block name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||||
|
<stay wp="STDBY"/>
|
||||||
|
</block>
|
||||||
|
<block name="stay_p1">
|
||||||
|
<stay wp="p1"/>
|
||||||
|
</block>
|
||||||
|
<block name="go_p2">
|
||||||
|
<call fun="nav_set_heading_deg(90)"/>
|
||||||
|
<go wp="p2"/>
|
||||||
|
<deroute block="stay_p1"/>
|
||||||
|
</block>
|
||||||
|
<block name="line_p1_p2">
|
||||||
|
<go from="p1" hmode="route" wp="p2"/>
|
||||||
|
<stay wp="p2" until="stage_time>10"/>
|
||||||
|
<go from="p2" hmode="route" wp="p1"/>
|
||||||
|
<deroute block="stay_p1"/>
|
||||||
|
</block>
|
||||||
|
<block name="route">
|
||||||
|
<go from="p1" hmode="route" wp="p3"/>
|
||||||
|
<go from="p3" hmode="route" wp="p4"/>
|
||||||
|
<go from="p4" hmode="route" wp="p1"/>
|
||||||
|
<deroute block="stay_p1"/>
|
||||||
|
</block>
|
||||||
|
<block name="Oval">
|
||||||
|
<oval p1="p1" p2="p2" radius="-1"/>
|
||||||
|
</block>
|
||||||
|
<block name="test yaw">
|
||||||
|
<go wp="p1"/>
|
||||||
|
<for var="i" from="1" to="16">
|
||||||
|
<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
|
||||||
|
</for>
|
||||||
|
<deroute block="Standby"/>
|
||||||
|
</block>
|
||||||
|
<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
|
||||||
|
<circle radius="nav_radius" wp="CAM"/>
|
||||||
|
</block>
|
||||||
|
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||||
|
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||||
|
</block>
|
||||||
|
<block name="land">
|
||||||
|
<go wp="TD"/>
|
||||||
|
</block>
|
||||||
|
<block name="flare">
|
||||||
|
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||||
|
<exception cond="!nav_is_in_flight()" deroute="landed"/>
|
||||||
|
<call fun="NavStartDetectGround()"/>
|
||||||
|
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||||
|
</block>
|
||||||
|
<block name="landed">
|
||||||
|
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||||
|
</block>
|
||||||
|
</blocks>
|
||||||
|
</flight_plan>
|
||||||
@@ -0,0 +1,152 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<!DOCTYPE telemetry SYSTEM "../telemetry.dtd">
|
||||||
|
<telemetry>
|
||||||
|
|
||||||
|
|
||||||
|
<process name="Main">
|
||||||
|
|
||||||
|
<mode name="default" key_press="d">
|
||||||
|
<message name="AUTOPILOT_VERSION" period="11.1"/>
|
||||||
|
<message name="DL_VALUE" period="1.1"/>
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="ROTORCRAFT_FP" period="0.25"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="INS_REF" period="5.1"/>
|
||||||
|
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
|
||||||
|
<message name="WP_MOVED" period="1.3"/>
|
||||||
|
<message name="ROTORCRAFT_CAM" period="1."/>
|
||||||
|
<message name="GPS_INT" period=".25"/>
|
||||||
|
<message name="INS" period=".25"/>
|
||||||
|
<message name="I2C_ERRORS" period="4.1"/>
|
||||||
|
<message name="UART_ERRORS" period="3.1"/>
|
||||||
|
<message name="SUPERBITRF" period="3"/>
|
||||||
|
<message name="ENERGY" period="2.5"/>
|
||||||
|
<message name="DATALINK_REPORT" period="5.1"/>
|
||||||
|
<message name="STATE_FILTER_STATUS" period="3.2"/>
|
||||||
|
<message name="AIR_DATA" period="1.3"/>
|
||||||
|
<message name="SURVEY" period="2.5"/>
|
||||||
|
<message name="OPTIC_FLOW_EST" period="0.25"/>
|
||||||
|
<message name="VECTORNAV_INFO" period="0.5"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="ppm">
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="ROTORCRAFT_CMD" period=".05"/>
|
||||||
|
<message name="PPM" period="0.5"/>
|
||||||
|
<message name="RC" period="0.5"/>
|
||||||
|
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1"/>
|
||||||
|
<message name="BEBOP_ACTUATORS" period="0.2"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="raw_sensors">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="IMU_ACCEL_RAW" period=".05"/>
|
||||||
|
<message name="IMU_GYRO_RAW" period=".05"/>
|
||||||
|
<message name="IMU_MAG_RAW" period=".05"/>
|
||||||
|
<message name="BARO_RAW" period=".1"/>
|
||||||
|
<message name="ARDRONE_NAVDATA" period=".05"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="scaled_sensors">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="IMU_GYRO_SCALED" period=".075"/>
|
||||||
|
<message name="IMU_ACCEL_SCALED" period=".075"/>
|
||||||
|
<message name="IMU_MAG_SCALED" period=".1"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="ahrs">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="FILTER_ALIGNER" period="2.2"/>
|
||||||
|
<message name="FILTER" period=".5"/>
|
||||||
|
<message name="GEO_MAG" period="5."/>
|
||||||
|
<message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
|
||||||
|
<message name="AHRS_QUAT_INT" period=".25"/>
|
||||||
|
<message name="AHRS_EULER_INT" period=".1"/>
|
||||||
|
<message name="AHRS_EULER" period=".1"/>
|
||||||
|
<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="rate_loop">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="RATE_LOOP" period=".02"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="attitude_setpoint_viz" key_press="v">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="0.9"/>
|
||||||
|
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
|
||||||
|
<message name="AHRS_REF_QUAT" period="0.05"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="attitude_loop" key_press="a">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="0.9"/>
|
||||||
|
<message name="STAB_ATTITUDE_INT" period=".03"/>
|
||||||
|
<message name="STAB_ATTITUDE_REF_INT" period=".03"/>
|
||||||
|
<message name="STAB_ATTITUDE_FLOAT" period=".03"/>
|
||||||
|
<message name="STAB_ATTITUDE_REF_FLOAT" period=".03"/>
|
||||||
|
<message name="STAB_ATTITUDE_INDI" period=".25"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="vert_loop" key_press="v">
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="DL_VALUE" period="0.5"/>
|
||||||
|
<message name="ALIVE" period="0.9"/>
|
||||||
|
<message name="VFF" period=".05"/>
|
||||||
|
<message name="VFF_EXTENDED" period=".05"/>
|
||||||
|
<message name="VERT_LOOP" period=".05"/>
|
||||||
|
<message name="INS_Z" period=".05"/>
|
||||||
|
<message name="INS" period=".11"/>
|
||||||
|
<message name="INS_REF" period="5.1"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="h_loop" key_press="h">
|
||||||
|
<message name="ALIVE" period="0.9"/>
|
||||||
|
<message name="HOVER_LOOP" period="0.062"/>
|
||||||
|
<message name="GUIDANCE_H_REF_INT" period="0.062"/>
|
||||||
|
<message name="STAB_ATTITUDE_INT" period="0.4"/>
|
||||||
|
<message name="STAB_ATTITUDE_FLOAT" period="0.4"/>
|
||||||
|
<!--<message name="STAB_ATTITUDE_REF_INT" period="0.4"/>-->
|
||||||
|
<message name="ROTORCRAFT_FP" period="0.8"/>
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
|
||||||
|
<message name="INS_REF" period="5.1"/>
|
||||||
|
<!-- HFF messages are only sent if USE_HFF -->
|
||||||
|
<message name="HFF" period=".05"/>
|
||||||
|
<message name="HFF_GPS" period=".03"/>
|
||||||
|
<message name="HFF_DBG" period=".2"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="aligner">
|
||||||
|
<message name="ALIVE" period="0.9"/>
|
||||||
|
<message name="FILTER_ALIGNER" period="0.02"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="tune_hover">
|
||||||
|
<message name="DL_VALUE" period="1.1"/>
|
||||||
|
<message name="ROTORCRAFT_STATUS" period="1.2"/>
|
||||||
|
<message name="ALIVE" period="2.1"/>
|
||||||
|
<message name="GUIDANCE_H_INT" period="0.05"/>
|
||||||
|
<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>
|
||||||
|
<!-- <message name="GPS_INT" period=".20"/> -->
|
||||||
|
<!--<message name="INS2" period=".05"/>
|
||||||
|
<message name="INS3" period=".20"/>-->
|
||||||
|
<message name="INS_REF" period="5.1"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
</process>
|
||||||
|
|
||||||
|
</telemetry>
|
||||||
|
|
||||||
@@ -0,0 +1,13 @@
|
|||||||
|
<conf>
|
||||||
|
<aircraft
|
||||||
|
name="bebop2"
|
||||||
|
ac_id="51"
|
||||||
|
airframe="airframes/DB/db_bebop2_indi.xml"
|
||||||
|
radio="radios/dummy.xml"
|
||||||
|
telemetry="telemetry/DB/db_default_rotorcraft.xml"
|
||||||
|
flight_plan="flight_plans/DB/db_cyberzoo.xml"
|
||||||
|
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/rotorcraft_speed.xml settings/control/stabilization_indi.xml"
|
||||||
|
settings_modules="modules/geo_mag.xml modules/air_data.xml"
|
||||||
|
gui_color="red"
|
||||||
|
/>
|
||||||
|
</conf>
|
||||||
@@ -0,0 +1,248 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<control_panel name="paparazzi control panel">
|
||||||
|
|
||||||
|
<section name="programs">
|
||||||
|
<program name="Server" command="sw/ground_segment/tmtc/server"/>
|
||||||
|
<program name="Data Link" command="sw/ground_segment/tmtc/link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
</program>
|
||||||
|
<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
|
||||||
|
<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
|
||||||
|
<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
|
||||||
|
<arg flag="-edit"/>
|
||||||
|
</program>
|
||||||
|
<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
|
||||||
|
<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
|
||||||
|
<program name="Settings" command="sw/ground_segment/tmtc/settings">
|
||||||
|
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||||
|
</program>
|
||||||
|
<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py">
|
||||||
|
<arg flag="--ac_id" constant="@AC_ID"/>
|
||||||
|
</program>
|
||||||
|
<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
|
||||||
|
<program name="Log Plotter" command="sw/logalizer/logplotter"/>
|
||||||
|
<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
|
||||||
|
<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/realtimeplotapp.py"/>
|
||||||
|
<program name="Log File Player" command="sw/logalizer/play"/>
|
||||||
|
<program name="Simulator" command="sw/simulator/pprzsim-launch">
|
||||||
|
<arg flag="-a" constant="@AIRCRAFT"/>
|
||||||
|
</program>
|
||||||
|
<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
|
||||||
|
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
|
||||||
|
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||||
|
<arg flag="xbox_gamepad.xml"/>
|
||||||
|
</program>
|
||||||
|
<program name="Environment Simulator" command="sw/simulator/gaia"/>
|
||||||
|
<program name="Http Server" command="$python">
|
||||||
|
<arg flag="-m" constant="SimpleHTTPServer"/>
|
||||||
|
<arg flag="8889"/>
|
||||||
|
</program>
|
||||||
|
<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
|
||||||
|
<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB1"/>
|
||||||
|
</program>
|
||||||
|
<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
|
||||||
|
<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
|
||||||
|
<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
|
||||||
|
<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
|
||||||
|
<arg flag="--port" constant="/dev/ttyUSB1"/>
|
||||||
|
<arg flag="--id" constant="1"/>
|
||||||
|
</program>
|
||||||
|
<program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
|
||||||
|
<arg flag="/dev/ttyACM2"/>
|
||||||
|
<arg flag="scan" />
|
||||||
|
</program>
|
||||||
|
<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
|
||||||
|
<arg flag="/dev/ttyACM2"/>
|
||||||
|
<arg flag="00:07:00:2d:d6:bb" />
|
||||||
|
<arg flag="4242" />
|
||||||
|
<arg flag="4252" />
|
||||||
|
</program>
|
||||||
|
<program name="ADS-B Intruders receiver" command="sw/ground_segment/misc/sbs2ivy">
|
||||||
|
<arg flag="--ac" constant="@AC_ID"/>
|
||||||
|
</program>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="sessions">
|
||||||
|
|
||||||
|
<session name="Flight UDP/WiFi">
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-udp"/>
|
||||||
|
</program>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Flight USB-serial@9600">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Flight USB-serial@57600">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Flight USB-XBee-API@57600">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
|
||||||
|
<arg flag="-transport" constant="xbee"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Flight USB-serial Redundant">
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
<arg flag="-id" constant="1"/>
|
||||||
|
<arg flag="-redlink"/>
|
||||||
|
</program>
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB1"/>
|
||||||
|
<arg flag="-id" constant="2"/>
|
||||||
|
<arg flag="-redlink"/>
|
||||||
|
</program>
|
||||||
|
<program name="Link Combiner"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="SupperBitRF">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyACM0"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
<program name="Messages"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="SupperBitRF cable telemetry">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyACM1"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server"/>
|
||||||
|
<program name="GCS"/>
|
||||||
|
<program name="Messages"/>
|
||||||
|
<program name="Messages"/>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Messages and Settings">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server">
|
||||||
|
<arg flag="-n"/>
|
||||||
|
</program>
|
||||||
|
<program name="Messages"/>
|
||||||
|
<program name="Settings">
|
||||||
|
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||||
|
</program>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Raw Sensors">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server">
|
||||||
|
<arg flag="-n"/>
|
||||||
|
</program>
|
||||||
|
<program name="Messages">
|
||||||
|
<arg flag="-g" constant="300x400+0-220"/>
|
||||||
|
</program>
|
||||||
|
<program name="Settings">
|
||||||
|
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||||
|
<arg flag="-g" constant="800x200+0-0"/>
|
||||||
|
</program>
|
||||||
|
<program name="Real-time Plotter">
|
||||||
|
<arg flag="-g" constant="1000x250-0+0"/>
|
||||||
|
<arg flag="-t" constant="ACC"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
|
||||||
|
<arg flag="-n"/>
|
||||||
|
<arg flag="-g" constant="1000x250-0+250"/>
|
||||||
|
<arg flag="-t" constant="GYRO"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
|
||||||
|
<arg flag="-n"/>
|
||||||
|
<arg flag="-g" constant="1000x250-0+500"/>
|
||||||
|
<arg flag="-t" constant="MAG"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
|
||||||
|
<arg flag="-n"/>
|
||||||
|
<arg flag="-g" constant="1000x250-0+750"/>
|
||||||
|
<arg flag="-t" constant="BARO"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="101325.0"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
|
||||||
|
</program>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
<session name="Scaled Sensors">
|
||||||
|
<program name="Data Link">
|
||||||
|
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||||
|
<arg flag="-s" constant="57600"/>
|
||||||
|
</program>
|
||||||
|
<program name="Server">
|
||||||
|
<arg flag="-n"/>
|
||||||
|
</program>
|
||||||
|
<program name="Messages">
|
||||||
|
<arg flag="-g" constant="300x400+0-220"/>
|
||||||
|
</program>
|
||||||
|
<program name="Settings">
|
||||||
|
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||||
|
<arg flag="-g" constant="800x200+0-0"/>
|
||||||
|
</program>
|
||||||
|
<program name="Real-time Plotter">
|
||||||
|
<arg flag="-g" constant="1000x250-0+0"/>
|
||||||
|
<arg flag="-t" constant="ACC"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="9.81"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="-9.81"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
|
||||||
|
<arg flag="-n"/>
|
||||||
|
<arg flag="-g" constant="1000x250-0+250"/>
|
||||||
|
<arg flag="-t" constant="GYRO"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
|
||||||
|
<arg flag="-n"/>
|
||||||
|
<arg flag="-g" constant="1000x250-0+500"/>
|
||||||
|
<arg flag="-t" constant="MAG"/>
|
||||||
|
<arg flag="-u" constant="0.05"/>
|
||||||
|
<arg flag="-c" constant="0.00"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
|
||||||
|
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
|
||||||
|
</program>
|
||||||
|
</session>
|
||||||
|
|
||||||
|
</section>
|
||||||
|
|
||||||
|
</control_panel>
|
||||||
Reference in New Issue
Block a user