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update airframe file

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This commit is contained in:
Felix Ruess
2010-07-13 16:04:52 +00:00
parent 6f8a53b90c
commit bb90eea424
1 changed files with 164 additions and 171 deletions
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conf/airframes/booz2_flixr.xml
+164 -171
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@@ -1,115 +1,108 @@
<airframe name="BOOZ2_F1">
<modules main_freq="512">
<load name="booz_drop.xml"/>
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<modules main_freq="512">
<load name="booz_drop.xml"/>
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255" />
<servo name="BACK" no="1" min="0" neutral="0" max="255" />
<servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
<servo name="LEFT" no="3" min="0" neutral="0" max="255" />
</servos>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255" />
<servo name="BACK" no="1" min="0" neutral="0" max="255" />
<servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
<servo name="LEFT" no="3" min="0" neutral="0" max="255" />
</servos>
<commands>
<axis name="PITCH" failsafe_value="0" />
<axis name="ROLL" failsafe_value="0" />
<axis name="YAW" failsafe_value="0" />
<axis name="THRUST" failsafe_value="0" />
</commands>
<commands>
<axis name="PITCH" failsafe_value="0" />
<axis name="ROLL" failsafe_value="0" />
<axis name="YAW" failsafe_value="0" />
<axis name="THRUST" failsafe_value="0" />
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4" />
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
</section>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4" />
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<define name="TRIM_A" value="0" />
<define name="TRIM_E" value="0" />
<define name="TRIM_R" value="0" />
<define name="NB_MOTOR" value="4" />
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<define name="TRIM_A" value="0" />
<define name="TRIM_E" value="0" />
<define name="TRIM_R" value="0" />
<define name="NB_MOTOR" value="4" />
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
<define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
<define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1" />
<define name="GYRO_Q_CHAN" value="0" />
<define name="GYRO_R_CHAN" value="2" />
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1" />
<define name="GYRO_Q_CHAN" value="0" />
<define name="GYRO_R_CHAN" value="2" />
<define name="GYRO_P_NEUTRAL" value="32362" />
<define name="GYRO_Q_NEUTRAL" value="32080" />
<define name="GYRO_R_NEUTRAL" value="32096" />
<define name="GYRO_P_NEUTRAL" value="32362" />
<define name="GYRO_Q_NEUTRAL" value="32080" />
<define name="GYRO_R_NEUTRAL" value="32096" />
<define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
<define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
<define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
<define name="GYRO_P_SENS" value="1.1032765" integer="16" />
<define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
<define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
<define name="ACCEL_X_CHAN" value="3" />
<define name="ACCEL_Y_CHAN" value="5" />
<define name="ACCEL_Z_CHAN" value="6" />
<define name="ACCEL_X_CHAN" value="3" />
<define name="ACCEL_Y_CHAN" value="5" />
<define name="ACCEL_Z_CHAN" value="6" />
<define name="ACCEL_X_SENS" value="-2.45932966" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.45106376" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.47825717" integer="16"/>
<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="31886"/>
<define name="ACCEL_Y_NEUTRAL" value="32162"/>
<define name="ACCEL_Z_NEUTRAL" value="32941"/>
<define name="MAG_X_CHAN" value="4" />
<define name="MAG_Y_CHAN" value="0" />
<define name="MAG_Z_CHAN" value="2" />
<define name="MAG_X_CHAN" value="4" />
<define name="MAG_Y_CHAN" value="0" />
<define name="MAG_Z_CHAN" value="2" />
<!--
<define name="MAG_X_SENS" value="-3.3915023" integer="16" />
<define name="MAG_Y_SENS" value="3.3855561" integer="16" />
<define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
-->
<define name="MAG_45_HACK" value="1" />
<!--define name="MAG_X_SENS" value="-5.14821844457 * sqrt(2)/2" integer="16"/-->
<define name="MAG_45_HACK" value="1" />
<!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
<!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
<define name="MAG_X_SENS" value="-3.640340173" integer="16"/>
<define name="MAG_X_SENS" value="3.640340173" integer="16"/>
<define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
<define name="MAG_Z_SENS" value="-5.07618333556" integer="16"/>
<define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
<define name="MAG_X_SIGN" value="-1" />
<define name="MAG_Y_SIGN" value=" 1" />
<define name="MAG_Z_SIGN" value="-1" />
<define name="MAG_X_NEUTRAL" value="2059"/>
<define name="MAG_Y_NEUTRAL" value="1944"/>
<define name="MAG_Z_NEUTRAL" value="2099"/>
<!--
<define name="MAG_X_NEUTRAL" value="2054" />
<define name="MAG_Y_NEUTRAL" value="1963" />
<define name="MAG_Z_NEUTRAL" value="2078" />
-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
</section>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<section name="STABILIZATION_RATE" prefix="BOOZ_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="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<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="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" />
@@ -119,134 +112,134 @@
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
<define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
<define name="SP_MAX_R" value="RadOfDeg(90.)" />
<define name="DEADBAND_R" value="250" />
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
<define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
<define name="SP_MAX_R" value="RadOfDeg(90.)" />
<define name="DEADBAND_R" value="250" />
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
<define name="REF_ZETA_P" value="0.9" />
<define name="REF_MAX_P" value="RadOfDeg(300.)" />
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
<define name="REF_ZETA_P" value="0.9" />
<define name="REF_MAX_P" value="RadOfDeg(300.)" />
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
<define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
<define name="REF_ZETA_Q" value="0.9" />
<define name="REF_MAX_Q" value="RadOfDeg(300.)" />
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
<define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
<define name="REF_ZETA_Q" value="0.9" />
<define name="REF_MAX_Q" value="RadOfDeg(300.)" />
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
<define name="REF_ZETA_R" value="0.9" />
<define name="REF_MAX_R" value="RadOfDeg(180.)" />
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
<define name="REF_ZETA_R" value="0.9" />
<define name="REF_MAX_R" value="RadOfDeg(180.)" />
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
<!-- feedback -->
<define name="PHI_PGAIN" value="-1000" />
<define name="PHI_DGAIN" value="-300" />
<define name="PHI_IGAIN" value="-100" />
<!-- feedback -->
<define name="PHI_PGAIN" value="-1000" />
<define name="PHI_DGAIN" value="-300" />
<define name="PHI_IGAIN" value="-100" />
<define name="THETA_PGAIN" value="-1000" />
<define name="THETA_DGAIN" value="-300" />
<define name="THETA_IGAIN" value="-100" />
<define name="THETA_PGAIN" value="-1000" />
<define name="THETA_DGAIN" value="-300" />
<define name="THETA_IGAIN" value="-100" />
<define name="PSI_PGAIN" value="-500" />
<define name="PSI_DGAIN" value="-320" />
<define name="PSI_IGAIN" value="-75" />
<define name="PSI_PGAIN" value="-500" />
<define name="PSI_DGAIN" value="-320" />
<define name="PSI_IGAIN" value="-75" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300" />
<define name="THETA_DDGAIN" value=" 300" />
<define name="PSI_DDGAIN" value=" 300" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300" />
<define name="THETA_DDGAIN" value=" 300" />
<define name="PSI_DDGAIN" value=" 300" />
</section>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16" />
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16" />
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-100"/>
<define name="HOVER_KD" value="-60"/>
<define name="HOVER_KI" value="-10"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-100"/>
<define name="HOVER_KD" value="-60"/>
<define name="HOVER_KI" value="-10"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-70"/>
<define name="DGAIN" value="-150"/>
<define name="IGAIN" value="-15"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="BATTERY_SENS" value="0.246" integer="16" />
<define name="BATTERY_OFFSET" value="0" />
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="BATTERY_SENS" value="0.246" integer="16" />
<define name="BATTERY_OFFSET" value="0" />
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
</section>
</section>
<section name="FMS">
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
</section>
<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
<define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
</section>
<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
<define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
</section>
<makefile>
ARCH=lpc21
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE = IAP
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
ap.CFLAGS += -DUSE_GPS_ACC4R
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DGPS_LAG=0.3
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c