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[Ardrone][Raw] More general airframe
This commit is contained in:
Christophe De Wagter
@@ -5,7 +5,6 @@
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2_raw">
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<define name="USE_INS_NAV_INIT"/>
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<!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
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<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
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@@ -20,15 +19,14 @@
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<!-- Subsystem section -->
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="ardrone2"/>
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<subsystem name="imu" type="ardrone2"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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@@ -39,7 +37,7 @@
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="3000"/>
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</commands>
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<servos driver="Default">
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@@ -55,6 +53,7 @@
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="255"/>
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<!-- Time cross layout (X), as documented in paparazzi -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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@@ -71,36 +70,42 @@
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="2056"/>
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<define name="ACCEL_Y_NEUTRAL" value="2060"/>
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<define name="ACCEL_Z_NEUTRAL" value="2052"/>
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<!-- Accelero -->
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<define name="ACCEL_X_NEUTRAL" value="2048"/>
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<define name="ACCEL_Y_NEUTRAL" value="2048"/>
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<define name="ACCEL_Z_NEUTRAL" value="2048"/>
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<define name="MAG_X_NEUTRAL" value="99"/>
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<define name="MAG_Y_NEUTRAL" value="59"/>
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<define name="MAG_Z_NEUTRAL" value="-65"/>
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<define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
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<define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
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<define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
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<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
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<!-- Magneto calibration -->
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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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<define name="MAG_Z_NEUTRAL" value="-180"/>
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<define name="MAG_X_SENS" value="16." integer="16"/>
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<define name="MAG_Y_SENS" value="16." integer="16"/>
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<define name="MAG_Z_SENS" value="16." integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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</section>
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<!-- roll -->
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<!-- pitch -->
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<!-- yaw -->
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
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<!-- local magnetic field -->
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<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.3892503"/>
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<!-- Delft -->
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<!--define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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<define name="H_Z" value="0.9211303"/ -->
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</section>
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<section name="INS" prefix="INS_">
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@@ -132,7 +137,6 @@
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<define name="DDGAIN_R" value="300"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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@@ -186,19 +190,18 @@
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="79"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="26"/>
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<define name="IGAIN" value="60"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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@@ -221,5 +224,4 @@
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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