mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 16:30:07 +08:00
[cleaning] removing some old stuff (#2696)
* [cleaning] removing some old stuff - infrared sensors and related ahrs - mkk and asctec actuators - old carto modules - fix bebop actuators for NPS - clean airframe and conf * [conf] add back asctec_v2 actuators that is still being used
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
4c1785d00b
commit
addc8d051c
@@ -1,179 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
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<airframe name="booz2_a6">
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="6"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
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</section>
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<servos driver="Mkk">
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<servo name="BACK_RIGHT" no="0" min="0" neutral="2" max="210"/>
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<servo name="BACK_LEFT" no="1" min="0" neutral="2" max="210"/>
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<servo name="CENTER_RIGHT" no="2" min="0" neutral="2" max="210"/>
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<servo name="CENTER_LEFT" no="3" min="0" neutral="2" max="210"/>
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<servo name="FRONT_RIGHT" no="4" min="0" neutral="2" max="210"/>
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<servo name="FRONT_LEFT" no="5" min="0" neutral="2" max="210"/>
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</servos>
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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="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="6"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
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<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
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<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[0]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[1]"/>
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<set servo="CENTER_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="CENTER_LEFT" value="motor_mixing.commands[3]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[4]"/>
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<set servo="FRONT_LEFT" value="motor_mixing.commands[5]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="31948"/>
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<define name="GYRO_Q_NEUTRAL" value="31834"/>
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<define name="GYRO_R_NEUTRAL" value="32687"/>
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<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
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<define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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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="90." unit="deg"/>
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</section>
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<section name="AUTOPILOT">
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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_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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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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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="400"/>
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<define name="PHI_DGAIN" value="300"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="400"/>
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<define name="THETA_DGAIN" value="300"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="380"/>
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<define name="PSI_DGAIN" value="320"/>
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<define name="PSI_IGAIN" value="75"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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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="500"/>
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<define name="HOVER_KD" value="200"/>
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<define name="HOVER_KI" value="100"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.0">
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<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
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<module name="radio_control" type="spektrum"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="mkk"/>
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</target>
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<module name="telemetry" type="transparent"/>
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<!-- <module name="imu" type="b2_v1.1"/> -->
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<module name="imu" type="aspirin_v1.0"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_euler"/>
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<module name="ahrs" type="int_cmpl_euler"/>
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<module name="ins"/>
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</firmware>
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<firmware name="test_progs">
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro_board" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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</firmware>
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</airframe>
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@@ -1,212 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Quadrotor KroozSD Mkk">
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<firmware name="rotorcraft">
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<target name="ap" board="krooz_sd">
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<module name="radio_control" type="ppm"/>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="krooz_sd"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_euler"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="actuators" type="mkk">
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<define name="I2C1_CLOCK_SPEED" value="42000"/>
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</module>
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<module name="motor_mixing"/>
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<define name="NO_RC_THRUST_LIMIT"/>
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<define name="FAILSAFE_GROUND_DETECT" value="1"/>
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<define name="THRESHOLD_GROUND_DETECT" value="12."/>
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<define name="USE_GPS_ACC4R" value="1"/>
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<define name="HFF_R_POS_MIN" value="2.5"/>
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<define name="HFF_R_SPEED_MIN" value="2."/>
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<define name="VF_FLOAT_MEAS_NOISE" value="2."/>
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<define name="USE_ADC_2" value="1"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="geo_mag"/>
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<module name="osd_max7456"/>
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<module name="hott_telemetry"/>
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</firmware>
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<servos driver="Mkk">
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<servo name="FRONT" no="0" min="0" neutral="3" max="210"/>
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<servo name="BACK" no="1" min="0" neutral="3" max="210"/>
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<servo name="RIGHT" no="2" min="0" neutral="3" max="210"/>
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<servo name="LEFT" no="3" min="0" neutral="3" max="210"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" 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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</commands>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="FRONT" value="motor_mixing.commands[0]"/>
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<set servo="BACK" value="motor_mixing.commands[1]"/>
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<set servo="RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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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="256"/>
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<define name="ROLL_COEF" value="{ 0, 0, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
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<define name="PITCH_COEF" value="{ MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, 0, 0 }"/>
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<define name="YAW_COEF" value="{ -MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
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<define name="THRUST_COEF" value="{ MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- replace this with your own calibration -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<define name="GYRO_P_SENS" value="0.5454" integer="16"/>
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<define name="GYRO_Q_SENS" value="0.5454" integer="16"/>
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<define name="GYRO_R_SENS" value="0.5454" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-48"/>
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<define name="ACCEL_Y_NEUTRAL" value="86"/>
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<define name="ACCEL_Z_NEUTRAL" value="-479"/>
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<define name="ACCEL_X_SENS" value="0.6131" integer="16"/>
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<define name="ACCEL_Y_SENS" value="0.6131" integer="16"/>
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<define name="ACCEL_Z_SENS" value="0.6131" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="74"/>
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<define name="MAG_Y_NEUTRAL" value="-118"/>
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<define name="MAG_Z_NEUTRAL" value="104"/>
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<define name="MAG_X_SENS" value="3.44419577366" integer="16"/>
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<define name="MAG_Y_SENS" value="3.40350478221" integer="16"/>
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<define name="MAG_Z_SENS" value="3.77559859867" integer="16"/>
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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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<section name="AHRS" prefix="AHRS_">
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<define name="GRAVITY_HEURISTIC_FACTOR" value="30"/>
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<define name="H_X" value="0.3586845"/>
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<define name="H_Y" value="0.0168651"/>
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<define name="H_Z" value="0.933303"/>
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</section>
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<section name="INS" prefix="INS_">
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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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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="50." 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="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="225" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.87"/>
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<define name="REF_MAX_P" value="180." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(400.)"/>
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<define name="REF_OMEGA_Q" value="225" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.87"/>
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<define name="REF_MAX_Q" value="180." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(400.)"/>
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<define name="REF_OMEGA_R" value="150" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="70." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(360.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="1700"/>
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<define name="PHI_DGAIN" value="500"/>
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<define name="PHI_IGAIN" value="250"/>
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<define name="THETA_PGAIN" value="1700"/>
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<define name="THETA_DGAIN" value="500"/>
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<define name="THETA_IGAIN" value="250"/>
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<define name="PSI_PGAIN" value="4000"/>
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<define name="PSI_DGAIN" value="1500"/>
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<define name="PSI_IGAIN" value="300"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="300"/>
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<define name="THETA_DDGAIN" value="300"/>
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<define name="PSI_DDGAIN" value="5000"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 -->
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<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration in m/s2 -->
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<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed in m/s -->
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<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed in m/s -->
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<define name="ADAPT_NOISE_FACTOR" value="0.7"/>
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<define name="HOVER_KP" value="130"/>
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<define name="HOVER_KD" value="150"/>
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<define name="HOVER_KI" value="10"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="USE_REF" value="1"/>
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<define name="USE_SPEED_REF" value="1"/> <!-- using RC to control horizontal setpoint -->
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<define name="MAX_BANK" value="27" unit="deg"/>
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<define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 -->
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<define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s -->
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="120"/>
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<define name="IGAIN" value="10"/>
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<define name="AGAIN" value="10"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_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"/>
|
||||
</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="CRITIC_BAT_LEVEL" value="14.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="14.2" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
|
||||
<!--uncomment next two lines together with a corresponding USE_ADC_2 define on the top of this file to use a current sensor
|
||||
(more about is here http://wiki.paparazziuav.org/wiki/Sensors/Current) -->
|
||||
<!--
|
||||
<define name="ADC_CHANNEL_CURRENT" value="ADC_2"/>
|
||||
<define name="MilliAmpereOfAdc(adc)" value="Max(0,(3100 - adc)*20)"/>
|
||||
-->
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,217 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame in X-configuration equiped with
|
||||
* Autopilot: Navstik http://wiki.paparazziuav.org/wiki/Navstik
|
||||
* IMU: Navstik http://wiki.paparazziuav.org/wiki/Navstik
|
||||
* Actuators: Asctec V2 http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
|
||||
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
|
||||
* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
|
||||
-->
|
||||
|
||||
<airframe name="Quadrotor Navstik">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="navstik_1.0">
|
||||
<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c3"/>
|
||||
<define name="ACTUATORS_START_DELAY" value="1"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<define name="RADIO_MODE" value="RADIO_AUX1"/>
|
||||
</module>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="asctec_v2"/>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="navstik"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<!--module name="airspeed_ms45xx_i2c">
|
||||
<configure name="MS45XX_I2C_DEV" value="i2c3"/>
|
||||
</module>
|
||||
<module name="direct_memory_logger"/-->
|
||||
</firmware>
|
||||
|
||||
<firmware name="test_progs">
|
||||
<configure name="MODEM_PORT" value="UART1"/>
|
||||
|
||||
<target name="test_sys_time_timer" board="navstik_1.0"/>
|
||||
<target name="test_telemetry" board="navstik_1.0"/>
|
||||
<target name="test_actuators_pwm_sin" board="navstik_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<servos driver="Asctec_v2">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
|
||||
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
|
||||
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
|
||||
</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="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
|
||||
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[0]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[1]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[2]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
|
||||
</command_laws>
|
||||
|
||||
<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="-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="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<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_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.150"/>
|
||||
<define name="G1_Q" value="0.150"/>
|
||||
<define name="G1_R" value="0.005119"/>
|
||||
<define name="G2_R" value="0.2166"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="900.0"/>
|
||||
<define name="REF_ERR_Q" value="900.0"/>
|
||||
<define name="REF_ERR_R" value="500.0"/>
|
||||
<define name="REF_RATE_P" value="38.0"/>
|
||||
<define name="REF_RATE_Q" value="38.0"/>
|
||||
<define name="REF_RATE_R" value="25.0"/>
|
||||
|
||||
<!-- 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="0.2"/>
|
||||
<define name="ACT_DYN_Q" value="0.2"/>
|
||||
<define name="ACT_DYN_R" value="0.2"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</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_R" value="250"/>
|
||||
<!-- 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="75"/>
|
||||
<define name="THETA_DDGAIN" value="75"/>
|
||||
<define name="PSI_DDGAIN" value="75"/>
|
||||
</section>
|
||||
|
||||
<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="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="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_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"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
</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>
|
||||
@@ -1,6 +1,6 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M -->
|
||||
|
||||
<airframe name="setup_apogee">
|
||||
|
||||
|
||||
@@ -28,8 +28,6 @@
|
||||
<target name="test_actuators_pwm_sin" board="elle0_1.2">
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</target>
|
||||
<target name="test_esc_mkk_simple" board="elle0_1.2"/>
|
||||
<target name="test_esc_asctecv1_simple" board="elle0_1.2"/>
|
||||
<target name="test_baro_board" board="elle0_1.2">
|
||||
<configure name="BARO_LED" value="2"/>
|
||||
</target>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
|
||||
<!-- this is a quadrotor frame equiped with Lisa/M -->
|
||||
|
||||
<airframe name="setup_lisam2">
|
||||
|
||||
@@ -29,8 +29,6 @@
|
||||
<target name="test_actuators_pwm_sin" board="lisa_m_2.0">
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</target>
|
||||
<target name="test_esc_mkk_simple" board="lisa_m_2.0"/>
|
||||
<target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
|
||||
<target name="test_baro_board" board="lisa_m_2.0">
|
||||
<configure name="BARO_LED" value="5"/>
|
||||
<!-- baro board options for Lisa/M 2.0: BARO_BOARD_BMP085, BARO_MS5611_I2C, BARO_MS5611_SPI (default) -->
|
||||
|
||||
Reference in New Issue
Block a user