mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Updated sample airframes
This commit is contained in:
Christophe De Wagter
@@ -7,7 +7,7 @@
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<airframe name="Yapa v1">
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<servos>
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<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
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<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
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<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
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@@ -17,8 +17,8 @@
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<commands>
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<axis name="THROTTLE" 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="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
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</commands>
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@@ -103,8 +103,8 @@
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-0.205" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.232" unit="rad"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
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</section>
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<section name="MISC">
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@@ -120,6 +120,9 @@
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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<define name="COMMAND_ROLL_TRIM" value="-2300" />
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<define name="COMMAND_PITCH_TRIM" value="1800" />
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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@@ -191,16 +194,14 @@
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<modules>
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<load name="ins_xsens_MTiG_fixedwing.xml">
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<configure name="XSENS_UART_NR" value="0"/>
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</load>
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<!--
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="3"/>
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<define name="LIGHT_LED_NAV" value="2"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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-->
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<!-- <load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml"/> -->
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@@ -212,15 +213,15 @@
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<target name="ap" board="tiny_2.11" />
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<target name="sim" board="pc"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="AGR_CLIMB"/>
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</target>
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<target name="sim" board="pc"/>
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<subsystem name="radio_control" type="ppm"/>
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@@ -233,7 +234,9 @@
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<subsystem name="gps" type="xsens"/>
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<subsystem name="ins" type="xsens">
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<configure name="XSENS_UART_NR" value="0" />
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</subsystem>
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</firmware>
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@@ -1,25 +1,91 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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YAPA + XSens + XBee
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<!--
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Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
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YAPA v2 (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
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With modified power routing
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* Aspiring
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* XBee 2.4Ghz
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* uBlox LEA5H and Sarantel helix GPS antenna
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Notes:
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The two aileron servos are separately connected and have an additional spoileron function
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-->
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<airframe name="Yapa v2">
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<airframe name="Graysky">
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<!-- **************************** FIRMWARE ********************************* -->
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<configure name="AHRS_ALIGNER_LED" value="3"/>
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</target>
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<target name="sim" board="pc"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<!-- Radio Control -->
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Navigation -->
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="imu" type="aspirin_i2c"/>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="gps" type="ublox"/>
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</firmware>
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<!-- **************************** MODULES ********************************** -->
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<modules>
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<!-- <load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="3"/>
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<define name="LIGHT_LED_NAV" value="2"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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-->
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<!-- <load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml"/> -->
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_LED" value="3"/>
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</load>
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</modules>
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<!-- ***************************** SERVOS ********************************** -->
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<servos>
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<servo name="THROTTLE" no="9" min="1100" neutral="1100" max="1900"/>
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<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
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<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="AILERON_RIGHT" no="8" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
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<servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
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<servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
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<servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
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</servos>
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<!-- commands section -->
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<commands>
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<axis name="THROTTLE" 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="PITCH" failsafe_value="0"/>
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<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
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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="PITCH" failsafe_value="0"/>
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<!-- both ailerons up as braking spoilerons -->
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<axis name="BRAKE" failsafe_value="9600"/>
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</commands>
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<rc_commands>
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@@ -30,6 +96,15 @@
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<set command="BRAKE" value="@FLAPS"/>
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</rc_commands>
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<!-- To still be able to use rudder in autonomous fight YAW can come in handy while tuning -->
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<!--
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<auto_rc_commands>
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<set command="YAW" value="@YAW"/>
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<set command="GAIN1" value="@GAIN1"/>
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<set command="CALIB" value="@CALIB"/>
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</auto_rc_commands>
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-->
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<section name="SERVO_MIXER_GAINS">
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<define name="AILERON_NEUTRAL" value="0.3f"/>
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@@ -41,7 +116,7 @@
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<define name="PITCH_GAIN" value="0.9f"/>
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<define name="BRAKE_AILEVON" value="-0.7f"/>
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<define name="BRAKE_SPOILERON" value="-0.7f"/>
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<define name="BRAKE_PITCH" value="0.1f"/>
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<define name="MAX_BRAKE_RATE" value="130"/>
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@@ -66,8 +141,8 @@
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<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
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<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
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<let var="rightturn" value="(1 - $leftturn)"/>
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<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
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<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
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<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_SPOILERON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
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<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_SPOILERON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
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<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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@@ -91,9 +166,11 @@
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<section name="BAT">
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<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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</section>
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<section name="IMU" prefix="IMU_">
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@@ -102,10 +179,11 @@
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
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<define name="GYRO_P_SENS" value="4.947" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
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<define name="GYRO_R_SENS" value="4.947" integer="16"/>
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<!-- ITG3200: SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
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<!-- IMU3000: SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
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<define name="GYRO_P_SENS" value="4.336" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.336" integer="16"/>
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<define name="GYRO_R_SENS" value="4.336" integer="16"/>
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<define name="GYRO_P_Q" value="0."/>
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<define name="GYRO_P_R" value="0"/>
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@@ -115,12 +193,12 @@
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<define name="GYRO_R_Q" value="0."/>
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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="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="ACCEL_X_NEUTRAL" value="-14"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="ACCEL_X_NEUTRAL" value="-12"/>
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<define name="ACCEL_Y_NEUTRAL" value="+3"/>
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<define name="ACCEL_Z_NEUTRAL" value="-30"/>
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<!-- 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 -->
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<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
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@@ -128,8 +206,8 @@
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<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
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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_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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@@ -154,6 +232,10 @@
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</section>
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<section name="MISC">
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<define name="COMMAND_ROLL_TRIM" value="1" />
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<define name="COMMAND_PITCH_TRIM" value="-1" />
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<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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@@ -162,11 +244,13 @@
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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</section>
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<!-- ******************* VERTICAL CONTROL ********************************** -->
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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@@ -188,6 +272,8 @@
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<!-- ******************* HORIZONTAL CONTROL ******************************** -->
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.16799998283"/>
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<define name="COURSE_DGAIN" value="0.280999988317"/>
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@@ -208,6 +294,7 @@
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<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
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</section>
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<!-- ***************************** AGGRESIVE ******************************* -->
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="30"/>
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<define name="BLEND_END" value="15"/>
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@@ -219,6 +306,7 @@
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<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
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</section>
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||||
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<!-- ****************************** FAILSAFE ******************************* -->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
|
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
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@@ -229,62 +317,10 @@
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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||||
</section>
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||||
|
||||
<!-- ******************************* CAMERA ******************************** -->
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||||
<section name="DIGITAL_CAMERA" prefix="DC_">
|
||||
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
|
||||
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
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||||
</section>
|
||||
|
||||
|
||||
<modules>
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||||
|
||||
<load name="light.xml">
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||||
<define name="LIGHT_LED_STROBE" value="3"/>
|
||||
<define name="LIGHT_LED_NAV" value="2"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
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</load>
|
||||
|
||||
<!-- <load name="digital_cam_i2c.xml"/> -->
|
||||
<!-- <load name="ins_ppzuavimu.xml"/> -->
|
||||
<load name="digital_cam.xml">
|
||||
<define name="DC_SHUTTER_LED" value="2"/>
|
||||
</load>
|
||||
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
|
||||
<target name="ap" board="tiny_2.11">
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||||
<configure name="PERIODIC_FREQUENCY" value="120"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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||||
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
<configure name="AHRS_ALIGNER_LED" value="3"/>
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="TUNE_AGRESSIVE_CLIMB"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<!-- Actuators -->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
<subsystem name="imu" type="aspirin_i2c"/>
|
||||
<subsystem name="ahrs" type="float_dcm"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
|
||||
Reference in New Issue
Block a user