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Cleanup TUD Conf and Airframes (#2690)

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* Cleanup: dual identical conf: mk=delfly, renames, removed doubles

* [airframes] remove doubles, move modules to firmware section

* [airframes] modules -> firmware

* more fixes
This commit is contained in:
Christophe De Wagter
2021-04-09 12:59:44 +02:00
committed by GitHub
parent 345c0b9a73
commit 951019e34b
41 changed files with 313 additions and 1515 deletions
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conf/airframes/BR/3DplaneLisaS.xml
+2 -5
View File
@@ -160,11 +160,6 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -201,5 +196,7 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/DelFlyDualPWMservo.xml
+2 -5
View File
@@ -190,11 +190,6 @@
<define name="IGAIN" value="24"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -230,5 +225,7 @@
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/DreamCacher_bart.xml
+2 -5
View File
@@ -174,11 +174,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -222,5 +217,7 @@
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/asctec_br.xml
+1 -3
View File
@@ -30,14 +30,12 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/>
</firmware>
<modules>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="switch" type="servo"/>
<module name="gps" type="ubx_ucenter"/>
</modules>
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
conf/airframes/BR/bebop_default.xml
+1 -3
View File
@@ -22,9 +22,7 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -55,7 +53,7 @@
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
</module>
<module name="video_exif"/>
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/BR/bebop_indi.xml
+1 -3
View File
@@ -28,9 +28,7 @@
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -62,7 +60,7 @@
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</module>
<module name="video_exif"/>
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/BR/bebop_indi_frog.xml
+3 -3
View File
@@ -30,9 +30,7 @@
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -64,7 +62,9 @@
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</module>
<module name="video_exif"/>
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/BR/conf.xml
+13 -13
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="white"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_survey.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_survey.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/digital_cam_video.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_colorfilter.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="green"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="blue"
release="3c20b30a61bf15a55fdf6d909c82615364e75751"
/>
@@ -85,7 +85,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_superbitrf_from_hand.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -96,7 +96,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
@@ -107,7 +107,7 @@
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
@@ -118,7 +118,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
@@ -129,7 +129,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="blue"
/>
<aircraft
@@ -140,7 +140,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/quadshot_delft.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
release="cdca4378a73ac8a9468fdc4ee9f4a966d6f90c16"
/>
conf/airframes/BR/ladybird_kit_bart.xml
+2 -5
View File
@@ -179,11 +179,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -227,5 +222,7 @@
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+5 -8
View File
@@ -187,14 +187,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="send_imu_mag_current"/>
<module name="stereocam">
<configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/>
</module>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="datalink">
@@ -229,5 +221,10 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="send_imu_mag_current"/>
<module name="stereocam">
<configure name="STEREO_UART" value="UART1"/>
<configure name="STEREO_BAUD" value="B115200"/>
</module>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_indi_bart.xml
+4 -7
View File
@@ -184,13 +184,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -234,5 +227,9 @@
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins" type="extended"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/BR/mavtec4_br.xml
+1 -3
View File
@@ -30,14 +30,12 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="hff"/>
</firmware>
<modules>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="switch" type="servo"/>
<module name="gps" type="ubx_ucenter"/>
</modules>
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
conf/airframes/CDW/cdw_asctec.xml
+5 -7
View File
@@ -30,6 +30,11 @@
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/>
<!-- <module name="logger_spi_link"/> -->
<module name="imu_quality_assessment"/>
<module name="gps" type="ubx_ucenter" />
</firmware>
<section name="AUTOPILOT">
@@ -38,13 +43,6 @@
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<!-- ************************* MODULES ************************* -->
<modules main_freq="512">
<!-- <module name="logger_spi_link"/> -->
<module name="imu_quality_assessment"/>
<module name="gps" type="ubx_ucenter" />
</modules>
<!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_bebop.xml
-229
View File
@@ -1,229 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop_indi">
<firmware name="rotorcraft">
<target name="ap" board="bebop">
<define name="STABILIZATION_INDI_G2_R" value="0.1450"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</module>
<module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module>
<module name="nav" type="survey_poly_rotorcraft">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</module>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
</module>
<module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</module>
<module name="video_exif"/>
</modules>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<include href="conf/airframes/tudelft/calibrations/bebop5.xml" />
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Toulouse -->
<!--define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/-->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.0639"/>
<define name="G1_Q" value="0.0361"/>
<define name="G1_R" value="0.0022"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_R" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/CDW/cdw_conf.xml
+2 -2
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
gui_color="white"
release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
/>
@@ -19,7 +19,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/imu_quality_assessment.xml modules/configure_actuators_mkk_v2.xml modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_euler.xml modules/configure_actuators_mkk_v2.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
gui_color="blue"
/>
</conf>
conf/airframes/CDW/cdw_mavtec.xml
+9 -12
View File
@@ -30,18 +30,7 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="hff"/>
</firmware>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<!-- ************************* MODULES ************************* -->
<modules main_freq="512">
<!-- <module name="logger_spi_link"/>
<module name="imu_quality_assessment"/> -->
<module name="switch" type="servo"/>
@@ -50,7 +39,15 @@
<module name="nav" type="survey_rectangle_rotorcraft"/>
<module name="nav" type="survey_poly_rotorcraft"/>
<module name="geo_mag"/>
</modules>
</firmware>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<!-- ************************* ACTUATORS ************************* -->
conf/airframes/CDW/cdw_tricopter.xml
+5 -7
View File
@@ -44,6 +44,10 @@ LiPo/LiIo-Zellen: 3
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="hff"/>
<module name="configure_actuators_mkk_v2"/>
<module name="imu_quality_assessment"/>
</firmware>
<section name="AUTOPILOT">
@@ -52,13 +56,7 @@ LiPo/LiIo-Zellen: 3
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<!-- ************************* MODULES ************************* -->
<modules>
<module name="configure_actuators_mkk_v2"/>
<module name="imu_quality_assessment"/>
</modules>
<!-- ************************* ACTUATORS ************************* -->
<section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
conf/airframes/KS/kirk_conf.xml
+2 -2
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
gui_color="#ffff00000000"
/>
<aircraft
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="#ffff00000000"
/>
</conf>
conf/airframes/KS/ks_mavtec1.xml
-3
View File
@@ -37,9 +37,6 @@
<module name="guidance" type="indi"/>
</firmware>
<modules>
</modules>
<servos driver="Pwm">
<servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
<servo name="MOTOR_1" no="1" min="1148" neutral="1200" max="1832"/>
conf/airframes/examples/quadshot_178_pylons.xml
-363
View File
@@ -1,363 +0,0 @@
<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
More information on the Quadshot can be found at transition-robotics.com -->
<airframe name="quadshot 178 pylons">
<servos driver="Pwm">
<servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1100" max="2000"/>
<!-- <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>-->
<!-- <servo name="ELEVON_LEFT" no="4" min="1150" neutral="1500" max="1850"/>
<servo name="ELEVON_RIGHT" no="5" min="1150" neutral="1500" max="1850"/>-->
<servo name="ELEVON_LEFT" no="4" min="1300" neutral="1500" max="1700"/>
<servo name="ELEVON_RIGHT" no="5" min="1300" neutral="1500" max="1700"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="A1" value="motor_mixing.commands[0]"/>
<set servo="A2" value="motor_mixing.commands[1]"/>
<set servo="B1" value="motor_mixing.commands[2]"/>
<set servo="B2" value="motor_mixing.commands[3]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="-@YAW"/>
<let var="aileron_feedback_right" value="-@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- Here the gains are defined for the two feedback cases, hover and forward-->
<let var="hover_left" value="15*$aileron_feedback_left"/>
<let var="hover_right" value="15*$aileron_feedback_right"/>
<!-- if using INDI -->
<!-- <let var="forward_left" value="aileron_gain*$aileron_feedback_left+elevator_gain*$elevator_feedback_left"/>
<let var="forward_right" value="aileron_gain*$aileron_feedback_right+elevator_gain*$elevator_feedback_right"/>-->
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="15*$aileron_feedback_left + 0*$elevator_feedback_left"/>
<let var="forward_right" value="15*$aileron_feedback_right + 0*$elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
<!-- <set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? 9000 : -9000" /> -->
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="PITCH_COEF" value="{-256, -256, 256, 256 }"/>
<define name="ROLL_COEF" value="{ 256, -256, 109, -109 }"/>
<define name="YAW_COEF" value="{ 256, -256, -109, 109 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<!-- <define name="PITCH_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="ROLL_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="YAW_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="THRUST_COEF" value="{ 0, 0, 0, 0 }"/>-->
</section>
<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
<section name="IMU" prefix="IMU_">
<!-- Use default driver values for gyro -->
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
<define name="MAG_X_NEUTRAL" value="104"/>
<define name="MAG_Y_NEUTRAL" value="9"/>
<define name="MAG_Z_NEUTRAL" value="15"/>
<define name="MAG_X_SENS" value="3.57880347067" integer="16"/>
<define name="MAG_Y_SENS" value="3.54049742843" integer="16"/>
<define name="MAG_Z_SENS" value="4.0620533034" integer="16"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<!-- <define name="USE_YAW_FOR_MOTOR_ARMING" value="TRUE"/> -->
</section>
<section name="BAT">
<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="350"/>
<define name="GAIN_Q" value="250"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="200"/>
<define name="IGAIN_Q" value="200"/>
<define name="IGAIN_R" value="200"/>
</section>
<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
<section name ="GAIN_SETS">
<define name="NUMBER_OF_GAINSETS" value="2"/>
<define name="SCHEDULING_VARIABLE" value="guidance_hybrid_norm_ref_airspeed"/>
<define name="SCHEDULING_POINTS" value="{4, 10}"/>
<define name="SCHEDULING_VARIABLE_FRAC" value="8"/>
<define name="PHI_P" value="{150, 150}"/>
<define name="PHI_D" value="{150, 150}"/>
<define name="PHI_I" value="{30, 30}"/>
<define name="PHI_DD" value="{0, 0}"/>
<define name="THETA_P" value="{100, 100}"/>
<define name="THETA_D" value="{100, 100}"/>
<define name="THETA_I" value="{40, 40}"/>
<define name="THETA_DD" value="{0, 0}"/>
<define name="PSI_P" value="{300, 300}"/>
<define name="PSI_D" value="{150, 150}"/>
<define name="PSI_I" value="{0, 0}"/>
<define name="PSI_DD" value="{0, 0}"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="60." unit="deg"/>
<define name="SP_MAX_R" value="180." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="150"/>
<define name="PHI_DGAIN" value="150"/>
<define name="PHI_IGAIN" value="30"/>
<define name="THETA_PGAIN" value="100"/>
<define name="THETA_DGAIN" value="100"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="300"/>
<define name="PSI_DGAIN" value="150"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 0"/>
<define name="THETA_DDGAIN" value=" 0"/>
<define name="PSI_DDGAIN" value=" 0"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="60." unit="deg"/>
<define name="SP_MAX_R" value="180." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
<!-- control effectiveness -->
<define name="CONTROL_EFFECTIVENESS_P" value="40.0"/>
<define name="CONTROL_EFFECTIVENESS_Q" value="9.0"/>
<define name="CONTROL_EFFECTIVENESS_R" value="170.0"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="70.0"/>
<define name="REF_ERR_Q" value="90.0"/>
<define name="REF_ERR_R" value="70.0"/>
<define name="REF_RATE_P" value="12.0"/>
<define name="REF_RATE_Q" value="12.0"/>
<define name="REF_RATE_R" value="12.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_R" value="6.4"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
</section>
<!-- Gains for vertical navigation -->
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="100"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.2"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- Delft magnetic field -->
<define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/>
</section>
<!-- Gains for horizontal navigation-->
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="65"/>
<define name="MAX_BANK" value="RadOfDeg(55)"/>
<define name="FORWARD_MAX_BANK" value="RadOfDeg(35)"/>
<define name="USE_REF" value="FALSE"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
</section>
<section name="MISC">
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-85.0" unit="deg"/>
<define name="RC_LOST_MODE" value="MODE_AUTO2"/>
<define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
<define name="THRESHOLD_GROUND_DETECT" value="25.0"/>
<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
<define name="FAILSAFE_GROUND_DETECT" value="TRUE"/>
<define name="HYBRID_NAVIGATION" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="ADAPTIVE_INDI" value="TRUE"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="6"/>
<!-- Put the mode on channel AUX1-->
<!-- <define name="RADIO_MODE" value="RADIO_AUX1"/>-->
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
</module>
<!-- ONLY if flashing via JTAG cable -->
<configure name="FLASH_MODE" value="JTAG"/>
<configure name="BMP_PORT" value="/dev/ttyACM0" />
<!-- To use an airspeed sensor on I2C, enable I2C2-->
<!-- <define name="USE_I2C2"/> -->
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
</target>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</module>
<module name="telemetry" type="xbee_api"/>
<!-- <module name="telemetry" type="transparent"/> -->
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<!-- <module name="stabilization" type="int_quat"/> -->
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
<load name="gps_ubx_ucenter.xml"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<!-- <load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</load>-->
<!-- <load name="high_speed_logger_spi_link.xml"/> -->
<!-- <load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_2"/>
<define name="AOA_OFFSET" value="0"/>
<define name="AOA_FILTER" value="0"/>
<define name="USE_AOA"/>
<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
</load>-->
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!-- <load name="gain_scheduling.xml"/> -->
</firmware>
</airframe>
conf/airframes/tudelft/quadshot_pylons.xml → conf/airframes/examples/quadshot_pylons.xml
+17 -19
View File
@@ -205,25 +205,6 @@
<!-- <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/> -->
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</module>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed_ets">
<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</module>
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--module name="gain_scheduling"/-->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<module name="radio_control" type="spektrum">
@@ -257,5 +238,22 @@
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</module>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed_ets">
<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</module>
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--module name="gain_scheduling"/-->
</firmware>
</airframe>
conf/airframes/examples/trashcan.xml
+2 -2
View File
@@ -85,7 +85,7 @@
</module>
<!-- not all are tested or tuned -->
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet..)
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet..) -->
<!-- <module name="stabilization" type="rate_indi"/> -->
<module name="stabilization" type="int_quat"/>
@@ -196,7 +196,7 @@
<define name="TYPE" value="QUAD_X"/>
</section>
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run -->
<!-- section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
conf/airframes/tudelft/IMAV2013/calibrations/182_calib.xml
-18
View File
@@ -1,18 +0,0 @@
<!-- ARDrone calibration file -->
<airframe>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="99"/>
<define name="MAG_Y_NEUTRAL" value="59"/>
<define name="MAG_Z_NEUTRAL" value="-65"/>
<define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
<define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
<define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
</section>
</airframe>
conf/airframes/tudelft/bebop2_detect_gate_front.xml
-260
View File
@@ -1,260 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_optitrack_visionfront">
<description>Bebop2: Detects Autonomous-Drone-Race-Gates</description>
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="SIMULATE" value="FALSE"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>
<target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="FALSE" />
</target>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<!-- <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> -->
</module>
<define name="USE_SONAR" value="TRUE"/>
<module name="ins" type="extended"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
</module>
<module name="pose_history">
<define name="POSE_HISTORY_SIZE" value="128" />
</module>
<!-- For tuning the color filter: -->
<!--
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
</module>
-->
<module name="ctrl_module_outerloop_demo"/>
<module name="cv_detect_gate">
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
</module>
<!--<module name="bebop_ae_awb"/>-->
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- Magnetometer still needs to be calibrated -->
<section name="IMU" prefix="IMU_">
<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="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
<!-- Use GPS heading instead of magneto -->
<define name="USE_GPS_HEADING" value="FALSE"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="0"/>
<!-- <define name="VFF_R_GPS" value="0.01"/> -->
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.0397"/>
<define name="G1_Q" value="0.0299"/>
<define name="G1_R" value="0.0014"/>
<define name="G2_R" value="0.1219"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="120.0" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="8.0"/>
<define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="220"/>
<define name="DGAIN" value="160"/>
<define name="IGAIN" value="15"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<!-- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> -->
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+52 -2
View File
@@ -5,11 +5,14 @@
</description>
<firmware name="rotorcraft">
<target name="ap" board="bebop"/>
<target name="ap" board="bebop">
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>
<define name="USE_SONAR" value="TRUE"/>
@@ -36,6 +39,7 @@
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/>
</module>
<define name="USE_SONAR" value="TRUE"/>
<module name="ins" type="extended"/>
<!--module name="guidance" type="indi">
@@ -53,8 +57,46 @@
<module name="ctrl_module_outerloop_demo"/>
<module name="sonar_bebop"/>
<module name="jevois_mavlink"/>
<!--module name="jevois_mavlink"/-->
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
</module>
<module name="pose_history">
<define name="POSE_HISTORY_SIZE" value="128" />
</module>
<!-- For tuning the color filter: -->
<!--
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
</module>
-->
<module name="cv_detect_gate">
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
</module>
<!--<module name="bebop_ae_awb"/>-->
</firmware>
<commands>
@@ -86,6 +128,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
conf/airframes/tudelft/IMAV2013/chouchou_lisa_s.xml → conf/airframes/tudelft/chouchou_lisa_s.xml
+3 -5
View File
@@ -159,11 +159,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -192,5 +187,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
conf/airframes/tudelft/guido_conf.xml
-46
View File
@@ -1,46 +0,0 @@
<conf>
<aircraft
name="ARDrone2_Guido_optitrack"
ac_id="29"
airframe="airframes/tudelft/guido_ardrone2_optitrack.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#fffff996b847"
/>
<aircraft
name="Bebop2_opticflow"
ac_id="4"
airframe="airframes/tudelft/bebop2_opticflow.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/optical_flow_landing.xml modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="Bebop2_undistort_front"
ac_id="5"
airframe="airframes/tudelft/bebop2_undistort_front.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/video_rtp_stream.xml modules/cv_undistort_image.xml modules/video_capture.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="Bebop_opticflow"
ac_id="14"
airframe="airframes/tudelft/bebop_opticflow.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="blue"
/>
</conf>
conf/airframes/tudelft/guido_control_panel.xml
-241
View File
@@ -1,241 +0,0 @@
<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"/>
<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/messagepicker.py"/>
<program name="Log File Player" command="sw/logalizer/play"/>
<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
<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="Hardware in the Loop" command="sw/simulator/simhitl"/>
<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>
</section>
<section name="sessions">
<session name="Bluegiga">
<program name="Data Link">
<arg flag="-udp"/>
<arg flag="-udp_port" constant="4242"/>
<arg flag="-udp_uplink_port" constant="4252"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="GCS">
<arg flag="-speech" />
</program>
<program name="NatNet">
<arg flag="-ac" constant="1"/>
<arg flag="12"/>
<arg flag="-small"/>
<arg flag="-tf" constant="5"/>
</program>
<program name="Joystick">
<arg flag="-d" constant="2"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Guido">
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech"/>
</program>
<program name="Joystick">
<arg flag="-ac" constant="ARDrone2_optitrack"/>
<arg flag="hobbyking.xml"/>
<arg flag="-d" constant="1"/>
</program>
<program name="NatNet">
<arg flag="-ac" constant="2"/>
<arg flag="11"/>
</program>
</session>
<session name="Flight USB0 @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech" />
</program>
</session>
<session name="Flight Paparazzi @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/link"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech" />
</program>
</session>
<session name="Flight ACM1 @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM1"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech" />
</program>
</session>
<session name="Flight ACM0 @57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyACM0"/>
<arg flag="-s" constant="57600"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech" />
</program>
</session>
<session name="Flight XBee @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">
<arg flag="-speech" />
</program>
</session>
<session name="Flight UDP">
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-speech" />
</program>
</session>
<session name="Raw Sensors">
<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="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>
<session name="Messages and Settings">
<program name="Messages"/>
<program name="Settings">
<arg flag="-ac" constant="@AIRCRAFT"/>
</program>
</session>
<session name="Joystick Hobbyking">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="hobbyking.xml"/>
</program>
</session>
<session name="Joystick X3D Pro">
<program name="Joystick">
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="extreme_3d_pro.xml"/>
</program>
</session>
</section>
</control_panel>
conf/airframes/tudelft/mavshot.xml
+11 -13
View File
@@ -239,19 +239,6 @@
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</module>
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--module name="gain_scheduling"/-->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<module name="radio_control" type="spektrum">
@@ -287,5 +274,16 @@
</module>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</module>
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--module name="gain_scheduling"/-->
</firmware>
</airframe>
conf/airframes/tudelft/mavtec4.xml
-196
View File
@@ -1,196 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="MAVTec4">
<description>MavTec with UBlox
</description>
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="piksi">
<define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
</module>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/>
<module name="guidance" type="indi"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="switch" type="servo"/>
<!--module name="gps" type="ubx_ucenter"/-->
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="1" min="0" neutral="3" max="200"/>
<servo name="BACK" no="2" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="3" min="0" neutral="3" max="200"/>
</servos>
<servos driver="Pwm">
<servo name="DROP" no="4" min="900" neutral="1500" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<section name="SWITCH_SERVO">
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="SwitchServoOn()"/>
<define name="DropClose()" value="SwitchServoOff()"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="MISC">
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-2"/>
<define name="MAG_Y_NEUTRAL" value="484"/>
<define name="MAG_Z_NEUTRAL" value="53"/>
<define name="MAG_X_SENS" value="4.02836351262" integer="16"/>
<define name="MAG_Y_SENS" value="3.97184580645" integer="16"/>
<define name="MAG_Z_SENS" value="4.08689235615" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="35" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/splash3.xml → conf/airframes/tudelft/splash_pixracer.xml
View File
conf/airframes/tudelft/splash.xml → conf/airframes/tudelft/splash_px4.xml
View File
conf/airframes/tudelft/IMAV2013/walkera_V120D02S.xml → conf/airframes/tudelft/walkera_V120D02S.xml
+3 -4
View File
@@ -142,10 +142,6 @@
<define name="IGAIN" value="6"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -169,5 +165,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
</firmware>
</airframe>
conf/airframes/tudelft/IMAV2013/walkera_genius_v1.xml → conf/airframes/tudelft/walkera_genius_v1.xml
+3 -5
View File
@@ -147,11 +147,6 @@
<define name="IGAIN" value="0"/>
</section>
<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
@@ -175,5 +170,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>