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Merge pull request #2137 from EwoudSmeur/fan_demo_branch
INDI settings and fan demo
This commit is contained in:
Ewoud Smeur
GitHub
@@ -98,6 +98,17 @@
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settings_modules="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"
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gui_color="#ffffcccaccca"
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/>
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<aircraft
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name="fan_demo"
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ac_id="28"
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airframe="airframes/TUDELFT/tudelft_bebop_indi_actuators.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/TUDELFT/fan_demo.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
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settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="#ffffcccaccca"
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/>
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<aircraft
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name="Bebop_actuators"
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ac_id="24"
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@@ -0,0 +1,191 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop_indi">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi">
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<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
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</module>
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<module name="stabilization" type="rate_indi"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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</module>
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<module name="ins" type="extended"/>
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<module name="guidance" type="indi"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="send_imu_mag_current"/>
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<!--module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</module-->
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800"/>
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<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800"/>
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<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800"/>
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<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800"/>
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</servos>
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<command_laws>
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<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
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<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
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<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
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<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
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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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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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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 -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- 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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<!-- For vibrating airfames -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</section>
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<section name="GUIDANCE_INDI">
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.7"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.5"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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<!-- Use GPS altitude measurments and set the R gain -->
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<define name="USE_GPS_ALT" value="1"/>
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<define name="VFF_R_GPS" value="0.01"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="400" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_ROLL" value="{20 , -20, -20 , 20 }"/>
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<define name="G1_PITCH" value="{14 , 14, -14 , -14 }"/>
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<define name="G1_YAW" value="{-1, 1, -1, 1}"/>
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<define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}"/>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{-61.2093, 65.3670, -65.7419, 65.4516}"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="28.0"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
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<define name="FILT_CUTOFF" value="5.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="TRUE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="700"/>
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<define name="HOVER_KD" value="200"/>
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<define name="HOVER_KI" value="400"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
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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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<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
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<define name="USE_REF" value="FALSE"/>
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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="130"/>
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<define name="DGAIN" value="200"/>
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<define name="IGAIN" value="70"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="2.5"/>
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<define name="DESCEND_VSPEED" value="-1.0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="bebop" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<define name="NO_MOTOR_MIXING" value="TRUE"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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