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https://github.com/paparazzi/paparazzi.git
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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
parent
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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