mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[conf] QuadPlane (#2130)
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
a710548b6a
commit
a03aab7c15
@@ -0,0 +1,224 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="Quadplane LisaM_2.0 pwm">
|
||||
<description>Quadplane: modified mini-talon with 6inch quadrotor.
|
||||
<description>
|
||||
<!-- FIRMWARE -->
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_MODE" value="RADIO_GEAR"/>
|
||||
<define name="RADIO_FORWARD_ON" value="RADIO_AUX1"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
|
||||
</module>
|
||||
|
||||
<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="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
|
||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||
</firmware>
|
||||
|
||||
<!-- COMMANDS -->
|
||||
|
||||
<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"/>
|
||||
<axis name="FLYMOTOR" failsafe_value="0"/>
|
||||
<axis name="DOAMOTOR" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="DOAMOTOR" value="@AUX1"/>
|
||||
<set command="FLYMOTOR" value="@THROTTLE"/>
|
||||
</rc_commands>
|
||||
|
||||
<!-- SERVOS -->
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="BACK_RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="BACK_LEFT" no="3" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="FLYMOTOR" no="4" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="AILERONS" no="5" min="1000" neutral="1470" max="1900"/>
|
||||
<servo name="RUDDERVATOR_LEFT" no="6" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="RUDDERVATOR_RIGHT" no="7" min="1000" neutral="1470" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<!-- COMMANDS LAWS -->
|
||||
|
||||
<command_laws>
|
||||
<!-- Switch to command transition to forward flight -->
|
||||
<let var="forward_on" value="@DOAMOTOR > 1500? 1 : 0"/>
|
||||
<!-- Hover motors -->
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FRONT_LEFT" value="$forward_on > 0? 0 : motor_mixing.commands[0]"/>
|
||||
<set servo="FRONT_RIGHT" value="$forward_on > 0? 0 : motor_mixing.commands[1]"/>
|
||||
<set servo="BACK_RIGHT" value="$forward_on > 0? 0 : motor_mixing.commands[2]"/>
|
||||
<set servo="BACK_LEFT" value="$forward_on > 0? 0 : motor_mixing.commands[3]"/>
|
||||
<set servo="FLYMOTOR" value="@FLYMOTOR * $forward_on"/>
|
||||
<!-- Inverted V-tail command law -->
|
||||
<let var="rudder" value="@YAW * 0.8"/>
|
||||
<let var="elevator" value="@PITCH * 1"/>
|
||||
<set servo="RUDDERVATOR_RIGHT" value="- $elevator - $rudder"/>
|
||||
<set servo="RUDDERVATOR_LEFT" value="$elevator + $rudder"/>
|
||||
<!-- Ailerons command law -->
|
||||
<set servo="AILERONS" value="@ROLL * 0.9" />
|
||||
</command_laws>
|
||||
|
||||
<!-- Battery -->
|
||||
|
||||
<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"/>
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
|
||||
</section>
|
||||
|
||||
|
||||
<modules>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
</modules>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 181, -181, -181, 181 }"/>
|
||||
<define name="PITCH_COEF" value="{ -181, -181, 181, 181 }"/>
|
||||
<define name="YAW_COEF" value="{ -128, 128, -128, 128 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-179"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-21"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="79"/>
|
||||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.40442339014" 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 -->
|
||||
<!-- Toulouse -->
|
||||
<define name="H_X" value="0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value="0.858336"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="250" 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="700"/>
|
||||
<define name="PHI_DGAIN" value="300"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="700"/>
|
||||
<define name="THETA_DGAIN" value="300"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="300"/>
|
||||
<define name="PSI_DGAIN" value="150"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</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="20" 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="NAV">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="2" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_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_RC_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
|
||||
<!--<define name="ROTORCRAFT_IS_QUADPLANE" value="TRUE"/>-->
|
||||
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -329,6 +329,18 @@
|
||||
settings_modules="modules/gps_ubx_ucenter.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="#f1d3c1b7ffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadplane"
|
||||
ac_id="222"
|
||||
airframe="airframes/TUDELFT/tudelft_aa_quadplane.xml"
|
||||
radio="radios/spektrum.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/control/stabilization_att_int.xml settings/nps.xml settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml"
|
||||
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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"
|
||||
gui_color="blue"
|
||||
release="2eb8ac43a4ed229b8bb97ee3743157ce61f7c1a7"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadrotor_LisaS"
|
||||
ac_id="132"
|
||||
|
||||
Reference in New Issue
Block a user