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[airframes] harmonize airframes, test all flightplans and test compile all nederdrones (#3082)
This commit is contained in:
Christophe De Wagter
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GitHub
GitHub
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528f5d5b10
commit
b7fca88f8d
@@ -18,11 +18,6 @@
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<configure name="FLASH_MODE" value="SWD"/>
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<define name="USE_BARO_BOARD" value="1"/>
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
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</module>
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART3"/>
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</module>
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@@ -43,8 +38,9 @@
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/>
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<!-- Chibios monitor -->
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<!-- Monitoring -->
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<module name="sys_mon"/>
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<!--module name="status_nederdrone"/-->
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<define name="ADC_CURRENT_DISABLE" value="TRUE"/>
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@@ -67,8 +63,6 @@
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</target>
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<target name="nps" board="pc">
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<module name="eff_scheduling_nederdrone"/>
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<module name="radio_control" type="datalink"/>
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<module name="fdm" type="jsbsim"/>
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@@ -83,6 +77,12 @@
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<define name="RADIO_KILL_SWITCH" value="0"/>
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</target>
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
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<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
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</module>
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<!--module name="follow_me">
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<define name="FOLLOW_ME_DISTANCE" value="60"/>
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<define name="FOLLOW_ME_HEIGHT" value="40"/>
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@@ -94,9 +94,12 @@
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<module name="approach_moving_target">
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<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
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<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
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</module>
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<module name="ins" type="ekf2" />
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<module name="ins" type="ekf2">
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<define name="USE_INS_NAV_INIT" value="FALSE"/>
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</module>
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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@@ -114,7 +117,8 @@
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</module>
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<module name="stabilization" type="rate_indi"/>
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<module name="air_data" >
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<module name="air_data">
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<define name="AIR_DATA_BARO_DIFF_ID" value="MS45XX_SENDER_ID"/> <!-- UAVCAN_SENDER_ID -->
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE" />
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</module>
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@@ -383,6 +387,7 @@
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<define name="ACT_DYN" value="{0.0354, 0.0354, 0.0354, 0.0354, 0.05, 0.05, 0.05, 0.05}"/>
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<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
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<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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@@ -432,4 +437,4 @@
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<define name="BAT_NB_CELLS" value="6"/>
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</section>
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</airframe>
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</airframe>
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@@ -35,6 +35,7 @@
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<module name="airspeed" type="ms45xx_i2c">
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<define name="USE_I2C4"/>
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<define name="MS45XX_I2C_DEV" value="i2c4"/>
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<define name="I2C4_CLOCK_SPEED" value="100000"/>
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</module>
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<!--module name="airspeed" type="uavcan"/-->
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@@ -80,6 +81,7 @@
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
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<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
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</module>
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<module name="telemetry" type="transparent">
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@@ -88,9 +90,12 @@
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<module name="approach_moving_target">
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<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
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<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
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</module>
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<module name="ins" type="ekf2" />
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<module name="ins" type="ekf2">
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<define name="USE_INS_NAV_INIT" value="FALSE"/>
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</module>
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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@@ -349,6 +354,7 @@
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<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
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<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
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<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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@@ -1,7 +1,7 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- This is a Nedderdrone with Trailing edge motors
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* Airframe: TUD00???
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* Airframe: TUD00343
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* Autopilot: Pixhawk 4
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* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
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* Datalink: Herelink
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@@ -81,6 +81,7 @@
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
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<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
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</module>
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<module name="telemetry" type="transparent">
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@@ -89,9 +90,12 @@
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<module name="approach_moving_target">
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<define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
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<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
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</module>
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<module name="ins" type="ekf2" />
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<module name="ins" type="ekf2">
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<define name="USE_INS_NAV_INIT" value="FALSE"/>
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</module>
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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@@ -350,6 +354,7 @@
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<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
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<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
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<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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@@ -1,7 +1,7 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- This is a Nedderdrone with Trailing edge motors
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* Airframe: TUD00???
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* Airframe: TUD00344
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* Autopilot: Pixhawk 4
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* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
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* Datalink: Herelink
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@@ -282,7 +282,7 @@
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<define name="MPU_Y_SIGN" value="1"/>
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<define name="MPU_Z_SIGN" value="1"/>
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<!-- Calibated 2022-08-30 (Next to cyberzoo body only) -->
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<!-- Calibrated 2022-08-30 (Next to cyberzoo body only) -->
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<define name="ACCEL_X_NEUTRAL" value="-40"/>
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<define name="ACCEL_Y_NEUTRAL" value="45"/>
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<define name="ACCEL_Z_NEUTRAL" value="-34"/>
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@@ -348,9 +348,9 @@
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<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
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<define name="FILT_CUTOFF_P" value="20."/>
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<define name="FILT_CUTOFF_Q" value="20."/>
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<define name="FILT_CUTOFF_R" value="4."/>
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<define name="FILT_CUTOFF_R" value="4.0"/>
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<!-- first order actuator dynamics -->
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<!--define name="ACT_DYN" value="{0.009, 0.009, 0.009, 0.009, 0.05, 0.05, 0.05, 0.05}"/-->
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<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
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<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
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<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
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@@ -62,16 +62,16 @@
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Start Engine">
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<block name="Start Engine" strip_button="Takeoff" strip_icon="takeoff.png">
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<set value="FALSE" var="force_forward"/>
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<call_once fun="NavResurrect()"/>
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<call_once fun="nav_set_heading_current()"/>
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<attitude pitch="-45" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
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</block>
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<block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
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<block name="TakeoffLow">
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<exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
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<call_once fun="nav_set_heading_current()"/>
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<call_once fun="autopilot_set_in_flight(true)"/>
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<call_once fun="nav_set_heading_current()"/>
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<attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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@@ -125,7 +125,6 @@
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="route"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2 25m NS" strip_button="Svy25-NS-PRIMITIVE">
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<set value="FALSE" var="force_forward"/>
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<survey_rectangle grid="30" orientation="NS" wp1="S1" wp2="S2"/>
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@@ -145,7 +144,6 @@
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<exception cond="rectangle_survey_sweep_num @GT 1" deroute="Standby"/>
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<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
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</block>
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<block name="Oval">
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<set value="TRUE" var="force_forward"/>
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<oval p1="p1" p2="p2" radius="nav.radius"/>
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@@ -171,4 +169,4 @@
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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</flight_plan>
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@@ -280,9 +280,9 @@
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airframe="airframes/tudelft/nederdrone4.xml"
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radio="radios/crossfire_sbus.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
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flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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gui_color="blue"
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/>
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<aircraft
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@@ -291,9 +291,9 @@
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airframe="airframes/tudelft/nederdrone6.xml"
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radio="radios/crossfire_sbus.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/nederdrone_harde.xml"
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flight_plan="flight_plans/tudelft/nederdrone_terschelling.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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gui_color="blue"
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/>
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<aircraft
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@@ -304,7 +304,7 @@
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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gui_color="blue"
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/>
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<aircraft
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@@ -313,7 +313,7 @@
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airframe="airframes/tudelft/nederdrone8.xml"
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radio="radios/crossfire_sbus.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
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flight_plan="flight_plans/tudelft/nederdrone_troia.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
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gui_color="#ffff00000000"
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