mirror of
https://github.com/paparazzi/paparazzi.git
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[boards] Porting KroozSD
This commit is contained in:
Sergey Krukovski
committed by
Felix Ruess
Felix Ruess
parent
3e689f0ce6
commit
b79972b7a8
+249
@@ -0,0 +1,249 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Hexarotor KroozSD Mkk">
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<firmware name="rotorcraft">
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<target name="ap" board="krooz_sd"/>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="mkk">
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<define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/>
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<define name="I2C1_CLOCK_SPEED" value="42000"/>
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</subsystem>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="imu" type="krooz_sd"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="hff"/>
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<define name="NO_RC_THRUST_LIMIT"/>
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<define name="USE_RC_FP_BLOCK_SWITCHING"/>
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<define name="USE_ATTITUDE_REF" value="0"/>
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</firmware>
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<modules main_freq="512">
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<!--<load name="gps_ubx_ucenter.xml"/>
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<load name="geo_mag.xml"/>
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<load name="sys_mon.xml"/>-->
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</modules>
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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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<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="FF" no="0" min="0" neutral="3" max="210"/>
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<servo name="FR" no="1" min="0" neutral="3" max="210"/>
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<servo name="DR" no="2" min="0" neutral="3" max="210"/>
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<servo name="DD" no="3" min="0" neutral="3" max="210"/>
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<servo name="DL" no="4" min="0" neutral="3" max="210"/>
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<servo name="FL" no="5" min="0" neutral="3" max="210"/>
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</servos>
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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="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" 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="{ 0, -256, -256, 0, 256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 128, -128, -256, -128, 128 }"/>
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<define name="YAW_COEF" value="{ -256, 249, -249, 256, -249, 249 }"/>
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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_motors_on,FALSE,values)"/>
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<set servo="FF" value="motor_mixing.commands[SERVO_FF]"/>
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<set servo="FR" value="motor_mixing.commands[SERVO_FR]"/>
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<set servo="DR" value="motor_mixing.commands[SERVO_DR]"/>
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<set servo="DD" value="motor_mixing.commands[SERVO_DD]"/>
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<set servo="DL" value="motor_mixing.commands[SERVO_DL]"/>
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<set servo="FL" value="motor_mixing.commands[SERVO_FL]"/>
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</command_laws>
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<section name="VERSION" prefix="VERSION_">
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<define name="MAJOR" value="1"/>
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<define name="MINOR" value="2"/>
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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=" 4.41" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 4.41" integer="16"/>
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<define name="GYRO_R_SENS" value=" 4.41" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-24"/>
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<define name="ACCEL_Y_NEUTRAL" value="122"/>
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<define name="ACCEL_Z_NEUTRAL" value="-130"/>
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<define name="ACCEL_X_SENS" value="4.90555515454" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.90893349017" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.75238978393" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-136"/>
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<define name="MAG_Y_NEUTRAL" value="-103"/>
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<define name="MAG_Z_NEUTRAL" value="6"/>
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<define name="MAG_X_SENS" value="3.18492472198" integer="16"/>
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<define name="MAG_Y_SENS" value="3.42471474617" integer="16"/>
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<define name="MAG_Z_SENS" value="3.42088446936" 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="PROPAGATE_LOW_PASS_RATES" value="1"/>
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<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/>
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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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<define name="BARO_SENS" value="20." integer="16"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="REF_TAU" value="4"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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<!-- feedforward -->
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<define name="DDGAIN_P" value="300"/>
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<define name="DDGAIN_Q" value="300"/>
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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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<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_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="800" 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="100." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(2000.)"/>
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<define name="REF_OMEGA_Q" value="800" 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="100." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(2000.)"/>
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<define name="REF_OMEGA_R" value="500" 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="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(180.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="1000"/>
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<define name="PHI_DGAIN" value="350"/>
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<define name="PHI_IGAIN" value="250"/>
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<define name="THETA_PGAIN" value="1000"/>
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<define name="THETA_DGAIN" value="350"/>
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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="1000"/>
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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="2000"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="TILT_COEFF" value="0.35"/>
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<define name="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration -->
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<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration -->
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<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed -->
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<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed -->
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<define name="HOVER_KP" value="120"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="RC_CLIMB_COEF" value ="500"/>
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<define name="RC_DESCENT_COEF" value ="200"/>
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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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="20" 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="RC_SPEED_DEAD_BAND" value="200000"/>
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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"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
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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_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="CRITIC_BAT_LEVEL" value="14.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="14.3" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
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</section>
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</airframe>
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+252
@@ -0,0 +1,252 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Oktorotor KroozSD Mkk">
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<firmware name="rotorcraft">
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<target name="ap" board="krooz_sd"/>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="mkk">
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<define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/>
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<define name="I2C1_CLOCK_SPEED" value="42000"/>
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</subsystem>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="imu" type="krooz_sd"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="hff"/>
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<define name="NO_RC_THRUST_LIMIT"/>
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<define name="USE_RC_FP_BLOCK_SWITCHING"/>
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<define name="USE_ATTITUDE_REF" value="0"/>
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<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
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</firmware>
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<modules main_freq="512">
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<!--<load name="gps_ubx_ucenter.xml"/>
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<load name="sys_mon.xml"/>
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<load name="geo_mag.xml"/>-->
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</modules>
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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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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="8"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 , 0x5A, 0x5C, 0x5E, 0x60}"/>
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</section>
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<servos driver="Mkk">
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<servo name="FF" no="0" min="0" neutral="3" max="210"/>
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<servo name="FR" no="1" min="0" neutral="3" max="210"/>
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<servo name="RR" no="2" min="0" neutral="3" max="210"/>
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<servo name="DR" no="3" min="0" neutral="3" max="210"/>
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<servo name="DD" no="4" min="0" neutral="3" max="210"/>
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<servo name="DL" no="5" min="0" neutral="3" max="210"/>
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<servo name="LL" no="6" min="0" neutral="3" max="210"/>
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<servo name="FL" no="7" min="0" neutral="3" max="210"/>
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</servos>
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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="MAX_SATURATION_OFFSET" value="2000"/>
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<define name="NB_MOTOR" value="8"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 108, -108, -256, -256, -108, 108, 256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, 256, 108, -108, -256, -256, -108, 108}"/>
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<define name="YAW_COEF" value="{ -256, 256, -256, 256, -256, 256, -256, 256}"/>
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<define name="THRUST_COEF" value="{ 256, 256, 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_motors_on,FALSE,values)"/>
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<set servo="FF" value="motor_mixing.commands[SERVO_FF]"/>
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<set servo="FR" value="motor_mixing.commands[SERVO_FR]"/>
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<set servo="RR" value="motor_mixing.commands[SERVO_RR]"/>
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<set servo="DR" value="motor_mixing.commands[SERVO_DR]"/>
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<set servo="DD" value="motor_mixing.commands[SERVO_DD]"/>
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<set servo="DL" value="motor_mixing.commands[SERVO_DL]"/>
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<set servo="LL" value="motor_mixing.commands[SERVO_LL]"/>
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<set servo="FL" value="motor_mixing.commands[SERVO_FL]"/>
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</command_laws>
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<section name="VERSION" prefix="VERSION_">
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<define name="MAJOR" value="1"/>
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<define name="MINOR" value="2"/>
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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=" 4.41" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 4.41" integer="16"/>
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<define name="GYRO_R_SENS" value=" 4.41" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-15"/>
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<define name="ACCEL_Y_NEUTRAL" value="75"/>
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<define name="ACCEL_Z_NEUTRAL" value="-110"/>
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<define name="ACCEL_X_SENS" value="4.91713002301" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.90474978531" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.69090792281" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-20"/>
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<define name="MAG_Y_NEUTRAL" value="5"/>
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<define name="MAG_Z_NEUTRAL" value="67"/>
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<define name="MAG_X_SENS" value="3.66584881345" integer="16"/>
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<define name="MAG_Y_SENS" value="3.71365620466" integer="16"/>
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<define name="MAG_Z_SENS" value="3.93483279876" integer="16"/>
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|
||||
<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="PROPAGATE_LOW_PASS_RATES" value="1"/>
|
||||
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/>
|
||||
<define name="H_X" value="0.3586845"/>
|
||||
<define name="H_Y" value="0.0168651"/>
|
||||
<define name="H_Z" value="0.933303"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="20." integer="16"/>
|
||||
</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="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="100." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(2000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="100." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(2000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(180.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="1000"/>
|
||||
<define name="PHI_DGAIN" value="350"/>
|
||||
<define name="PHI_IGAIN" value="250"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="350"/>
|
||||
<define name="THETA_IGAIN" value="250"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="4000"/>
|
||||
<define name="PSI_DGAIN" value="1000"/>
|
||||
<define name="PSI_IGAIN" value="300"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="2000"/>
|
||||
</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="TILT_COEFF" value="0.35"/>
|
||||
<define name="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration -->
|
||||
<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration -->
|
||||
<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed -->
|
||||
<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed -->
|
||||
<define name="HOVER_KP" value="120"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="RC_CLIMB_COEF" value ="500"/>
|
||||
<define name="RC_DESCENT_COEF" value ="200"/>
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="USE_REF" value="1"/>
|
||||
<define name="USE_SPEED_REF" value="1"/> <!-- using RC to control horizontal setpoint -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="REF_MAX_ACCEL" value="1.2"/> <!-- max reference horizontal acceleration in m/s2 -->
|
||||
<define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s -->
|
||||
<define name="RC_SPEED_DEAD_BAND" value="200000"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="180"/>
|
||||
<define name="IGAIN" value="3"/>
|
||||
<define name="AGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
|
||||
</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="13.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="13.2" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
+241
@@ -0,0 +1,241 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="Quadrotor KroozSD Mkk">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="krooz_sd">
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="krooz_sd"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
<subsystem name="actuators" type="mkk">
|
||||
<define name="I2C1_CLOCK_SPEED" value="42000"/>
|
||||
</subsystem>
|
||||
<subsystem name="motor_mixing"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT"/>
|
||||
<define name="USE_RC_FP_BLOCK_SWITCHING"/>
|
||||
<define name="USE_ATTITUDE_REF" value="0"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="sys_mon.xml"/>
|
||||
<load name="geo_mag.xml"/>-->
|
||||
</modules>
|
||||
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
||||
</section>
|
||||
|
||||
<servos driver="Mkk">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="210"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="3" max="210"/>
|
||||
<servo name="RIGHT" no="2" min="0" neutral="3" max="210"/>
|
||||
<servo name="LEFT" no="3" min="0" neutral="3" max="210"/>
|
||||
</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>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="VERSION" prefix="VERSION_">
|
||||
<define name="MAJOR" value="1"/>
|
||||
<define name="MINOR" value="2"/>
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
|
||||
<define name="PITCH_COEF" value="{ MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
|
||||
<define name="THRUST_COEF" value="{ MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="GYRO_P_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_P_SENS" value=" 4.41" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value=" 4.41" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value=" 4.41" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-48"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="86"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-479"/>
|
||||
<define name="ACCEL_X_SENS" value="4.86549375955" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.89290708897" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.83749812474" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-282"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-78"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="109"/>
|
||||
<define name="MAG_X_SENS" value="3.33430456557" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.53180739126" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.68297143457" 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="PROPAGATE_LOW_PASS_RATES" value="1"/>
|
||||
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/>
|
||||
<define name="H_X" value="0.3586845"/>
|
||||
<define name="H_Y" value="0.0168651"/>
|
||||
<define name="H_Z" value="0.933303"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="20." integer="16"/>
|
||||
</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="800" 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="800" 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="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="1000"/>
|
||||
<define name="PHI_DGAIN" value="250"/>
|
||||
<define name="PHI_IGAIN" value="250"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="250"/>
|
||||
<define name="THETA_IGAIN" value="250"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="4000"/>
|
||||
<define name="PSI_DGAIN" value="1000"/>
|
||||
<define name="PSI_IGAIN" value="300"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="2000"/>
|
||||
</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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration -->
|
||||
<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration -->
|
||||
<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed -->
|
||||
<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed -->
|
||||
<define name="HOVER_KP" value="120"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="RC_CLIMB_COEF" value ="500"/>
|
||||
<define name="RC_DESCENT_COEF" value ="200"/>
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="USE_REF" value="1"/>
|
||||
<define name="USE_SPEED_REF" value="1"/> <!-- using RC to control horizontal setpoint -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 -->
|
||||
<define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s -->
|
||||
<define name="RC_SPEED_DEAD_BAND" value="200000"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="120"/>
|
||||
<define name="IGAIN" value="10"/>
|
||||
<define name="AGAIN" value="10"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
|
||||
</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="13.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="13.2" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
+236
@@ -0,0 +1,236 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="Quadrotor KroozSD Pwm">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="krooz_sd">
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="krooz_sd"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
<subsystem name="motor_mixing"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT"/>
|
||||
<define name="USE_RC_FP_BLOCK_SWITCHING"/>
|
||||
<define name="USE_ATTITUDE_REF" value="0"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="geo_mag.xml"/>-->
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FRONT" no="0" min="1000" neutral="1190" max="1900"/>
|
||||
<servo name="BACK" no="1" min="1000" neutral="1190" max="1900"/>
|
||||
<servo name="RIGHT" no="2" min="1000" neutral="1190" max="1900"/>
|
||||
<servo name="LEFT" no="3" min="1000" neutral="1190" 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>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="VERSION" prefix="VERSION_">
|
||||
<define name="MAJOR" value="1"/>
|
||||
<define name="MINOR" value="2"/>
|
||||
</section>
|
||||
|
||||
<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="512"/>
|
||||
<define name="ROLL_COEF" value="{ 0, MOTOR_MIXING_SCALE, 0, -MOTOR_MIXING_SCALE }"/>
|
||||
<define name="PITCH_COEF" value="{ MOTOR_MIXING_SCALE, 0, -MOTOR_MIXING_SCALE, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
|
||||
<define name="THRUST_COEF" value="{ MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="GYRO_P_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="0"/>
|
||||
<define name="GYRO_P_SENS" value=" 4.41" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value=" 4.41" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value=" 4.41" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-17"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="137"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-112"/>
|
||||
<define name="ACCEL_X_SENS" value="4.90163520863" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.92641947248" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.75672568963" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-183"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-106"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-75"/>
|
||||
<define name="MAG_X_SENS" value="3.22557142458" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.52708642214" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.54627027156" 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="45." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
|
||||
<define name="GRAVITY_UPDATE_NORM_HEURISTIC" value="1"/>
|
||||
<define name="H_X" value="0.365258"/>
|
||||
<define name="H_Y" value="0.015505"/>
|
||||
<define name="H_Z" value="0.930777"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="20." integer="16"/>
|
||||
</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="800" 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="800" 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="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="600"/>
|
||||
<define name="PHI_DGAIN" value="350"/>
|
||||
<define name="PHI_IGAIN" value="150"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="600"/>
|
||||
<define name="THETA_DGAIN" value="350"/>
|
||||
<define name="THETA_IGAIN" value="150"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="3500"/>
|
||||
<define name="PSI_DGAIN" value="1000"/>
|
||||
<define name="PSI_IGAIN" value="100"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="1000"/>
|
||||
</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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration -->
|
||||
<define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration -->
|
||||
<define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed -->
|
||||
<define name="REF_MAX_ZD" value="3."/> <!-- max climb speed -->
|
||||
<define name="HOVER_KP" value="120"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="RC_CLIMB_COEF" value ="500"/>
|
||||
<define name="RC_DESCENT_COEF" value ="200"/>
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="USE_REF" value="1"/>
|
||||
<define name="USE_SPEED_REF" value="1"/> <!-- using RC to control horizontal setpoint -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 -->
|
||||
<define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s -->
|
||||
<define name="RC_SPEED_DEAD_BAND" value="200000"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="120"/>
|
||||
<define name="IGAIN" value="10"/>
|
||||
<define name="AGAIN" value="10"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
|
||||
</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"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user