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[boards] example hex for preliminary support for naze32 rev5

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Martin Mueller
2015-12-02 23:57:05 +01:00
parent 4f0e00b476
commit a0ad29923e
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conf/airframes/untested/hex_naze32.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a test file for the Abusemark Naze32 rev5 board:
* Autopilot: Abusemark Naze32 https://code.google.com/p/afrodevices/wiki/AfroFlight32
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* RC: PPM input http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#PPM
hex copter configuration (USE_SERVOS_5AND6) moves the PPM input from "1" to "6" on RC input
pwm motor connectors are in "standard mode" M1-M6 on the servo headers
-->
<airframe name="Hexcopter Naze32">
<firmware name="rotorcraft">
<define name="USE_SERVOS_5AND6"/>
<define name="PPRZ_TRIG_INT_COMPR_FLASH"/>
<define name="PPRZ_TRIG_INT_COMPR_HIGHEST"/>
<target name="ap" board="naze32_rev5">
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="mpu60x0_i2c">
<configure name="MPU60X0_I2C_DEV" value="i2c2"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
</subsystem>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem>
<subsystem name="ins"/>
<subsystem name="gps" type="ublox"/>
</firmware>
<firmware name="test_progs">
<target name="test_sys_time_timer" board="naze32_rev5"/>
<target name="test_sys_time_usleep" board="naze32_rev5"/>
<target name="test_telemetry" board="naze32_rev5"/>
<target name="test_math_trig_lut" board="naze32_rev5"/>
<target name="test_imu" board="naze32_rev5">
<subsystem name="imu" type="mpu6000"/>
</target>
<target name="test_ahrs" board="naze32_rev5">
<subsystem name="imu" type="mpu6000"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
</target>
</firmware>
<modules>
<load name="mag_hmc58xx.xml">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<servos driver="Pwm">
<!-- Naze32 Hexa-X standard -->
<servo name="BACK_RIGHT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_LEFT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="CENTER_RIGHT" no="4" min="1000" neutral="1100" max="1900"/>
<servo name="CENTER_LEFT" no="5" min="1000" neutral="1100" max="1900"/>
</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_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<!-- https://github.com/gearwolf-OP/Mini-Hexacopter >
< Naze32 Hexa-X standard BR_CC FR_CC BL_C FL_C CR_C CL_CC -->
<define name="ROLL_COEF" value="{ 106, 150, -106, -150, 256, -256}"/>
<define name="PITCH_COEF" value="{-256, 256, -256, 256, 0, 0}"/>
<define name="YAW_COEF" value="{ 199, 192, -199, -192, -256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256}"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[2]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[3]"/>
<set servo="CENTER_RIGHT" value="motor_mixing.commands[4]"/>
<set servo="CENTER_LEFT" value="motor_mixing.commands[5]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</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="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- 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="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</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"/>
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
</section>
</airframe>