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[airframes] cleanup all tudelft airframes (#3221)

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* bug fixes: simulation not selecting airframe, error when removing command, ADC not present in simulation

* remove command_trimmed not used warning (indeed not used) + add comments

* RAM3 overflow. Test of module done in RW3.

* coverity - Microjet - SIM

* clean BR

* CDW + tests

* make openuas/mavlab

* Remove Special ARDrones

* conf

* fixed typ in  eff_scheduler of rotwing_25kg

* Updated preflight checks for rotwing v3b actuators

* Updated tudelft conf

---------

Co-authored-by: Dennis van Wijngaarden <32736330+Dennis-Wijngaarden@users.noreply.github.com>
This commit is contained in:
Christophe De Wagter
2023-12-19 21:30:49 +01:00
committed by GitHub
parent 6614729042
commit c1ab6d5418
21 changed files with 36 additions and 953 deletions
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Makefile
+4 -2
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@@ -310,9 +310,11 @@ test_coverity: all
test_aggieair: all
CONF_XML=conf/airframes/AGGIEAIR/aggieair_conf.xml prove tests/aircrafts/
# test Open UAS conf
test_openuas: all
# test MAVLab users conf
test_mavlab: all
CONF_XML=conf/userconf/OPENUAS/openuas_conf.xml prove tests/aircrafts/
CONF_XML=conf/airframes/CDW/cdw_conf.xml prove tests/aircrafts/
CONF_XML=conf/airframes/BR/conf.xml prove tests/aircrafts/
# test TU Delft conf
test_tudelft: all
conf/airframes/BR/asctec_br.xml
-182
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@@ -1,182 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/M 201 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="MAVTec4">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="switch" type="servo"/>
<module name="gps" type="ubx_ucenter"/>
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="1" min="0" neutral="3" max="200"/>
<servo name="BACK" no="2" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="3" min="0" neutral="3" max="200"/>
</servos>
<servos driver="Pwm">
<servo name="DROP" no="4" min="1000" neutral="1500" max="2100"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<section name="SWITCH_SERVO">
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="SwitchServoOn()"/>
<define name="DropClose()" value="SwitchServoOff()"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14"/>
<define name="MAG_Y_NEUTRAL" value="116"/>
<define name="MAG_Z_NEUTRAL" value="119"/>
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
<define name="MAG_Z_SENS" value="5.65287938992" 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="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/BR/conf.xml
-22
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@@ -10,17 +10,6 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
name="Asctec"
ac_id="150"
airframe="airframes/BR/asctec_br.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="white"
/>
<aircraft
name="Bebop_INDI"
ac_id="21"
@@ -120,15 +109,4 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
name="MAVTec4_Bart"
ac_id="34"
airframe="airframes/BR/mavtec4_br.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="blue"
/>
</conf>
conf/airframes/BR/mavtec4_br.xml
-182
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@@ -1,182 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="MAVTec4">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="hff"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="switch" type="servo"/>
<module name="gps" type="ubx_ucenter"/>
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="1" min="0" neutral="3" max="200"/>
<servo name="BACK" no="2" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="3" min="0" neutral="3" max="200"/>
</servos>
<servos driver="Pwm">
<servo name="DROP" no="4" min="1000" neutral="1500" max="2100"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<section name="SWITCH_SERVO">
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="SwitchServoOn()"/>
<define name="DropClose()" value="SwitchServoOff()"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14"/>
<define name="MAG_Y_NEUTRAL" value="116"/>
<define name="MAG_Z_NEUTRAL" value="119"/>
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
<define name="MAG_Z_SENS" value="5.65287938992" 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="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/CDW/cdw_conf.xml
+12 -1
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@@ -7,7 +7,18 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_rotorcraft.xml modules/stabilization_int_euler.xml"
gui_color="white"
/>
<aircraft
name="MAVTec3"
ac_id="32"
airframe="airframes/CDW/cdw_mavtec.xml"
radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/delft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="#ffff00000000"
/>
</conf>
conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+1
View File
@@ -197,6 +197,7 @@ NOTES:
<!--<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>-->
<module name="baro_sim"/>
<module name="imu_nps"/>
<!-- For various parameter info here https://wiki.paparazziuav.org/wiki/Subsystem/ahrs -->
<!--<module name="ahrs" type="int_cmpl_quat">
</module>-->
conf/airframes/examples/microjet_lisa_m.xml
+1
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@@ -45,6 +45,7 @@
<module name="sys_mon"/>
<module name="baro_sim"/>
<module name="imu_nps"/>
<module name="air_data">
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
</module>
conf/airframes/tudelft/ardrone2_OF_hover.xml
-251
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@@ -1,251 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="ardrone2">
<description>
This airframe uses the optical flow module that uses monocular vision height estimation to stabilize a quadrotor using only a downwards
facing camera and an IMU. For additional documentation please visit the module xml file.
The settings in this airframe are calibrated for performance on an ARDrone2 specifically.
</description>
<firmware name="rotorcraft">
<target name="ap" board="ardrone2">
<configure name="USE_BARO_BOARD" value="FALSE" />
</target>
<define name="USE_SONAR" value="FALSE" />
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp" />
<module name="radio_control" type="datalink" />
<module name="motor_mixing" />
<module name="actuators" type="ardrone2" />
<module name="imu" type="ardrone2" />
<!-- Switch GPS for Optitrack mode -->
<module name="gps" type="datalink" />
<module name="stabilization" type="indi_simple" />
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0" />
</module>
<!--module name="ins" type="extended">
</module-->
<module name="ins" type="gps_passthrough"/>
<module name="bat_voltage_ardrone2" />
<module name="video_thread" />
<module name="pose_history" />
<module name="cv_opticflow">
<define name="OPTICFLOW_METHOD" value="0" />
<define name="OPTICFLOW_CAMERA" value="bottom_camera" />
<!-- ARDrone2 FPS improvements -->
<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
</module>
<module name="optical_flow_hover" >
<define name="OFH_HOVER_METHOD" value = "1" />
<define name="OFH_MAXBANK" value = "10.f" />
<define name="XY_SYMMETRICAL" value = "1" />
<define name="OFH_OSCPHI" value = "1" />
<define name="OFH_OSCTHETA" value = "0" />
<define name="COV_WINDOW_SIZE" value = "300" />
<define name="OF_LP_CONST" value = "0.6" />
<define name="OFH_RAMPZ" value = "0.125" />
<define name="OFH_IGAINZ" value = "0.003" />
<define name="OFH_REDUCTIONZ" value = "0.45" />
<define name="OFH_COVDIV_SETPOINT" value = "-0.025" />
<define name="OFH_IGAINX" value = "0.00005" />
<define name="OFH_IGAINY" value = "0.00005" />
<define name="OFH_RAMPXY" value = "0.0004" />
<define name="OFH_REDUCTIONXY" value = "0.3" />
<define name="OFH_COVFLOW_SETPOINT" value = "-2000.f" />
<define name="OFH_VER_SLOPE_A" value = "0.5" />
<define name="OFH_VER_SLOPE_B" value = "0.25" />
<define name="OFH_HOR_X_SLOPE_A" value = "0.006" />
<define name="OFH_HOR_X_SLOPE_B" value = "0.004" />
</module>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0" />
<axis name="ROLL" failsafe_value="0" />
<axis name="YAW" failsafe_value="0" />
<axis name="THRUST" failsafe_value="3000" />
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500" />
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500" />
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500" />
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500" />
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0" />
<define name="TRIM_PITCH" value="0" />
<define name="TRIM_YAW" value="0" />
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="TYPE" value="QUAD_X" />
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)" />
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]" />
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]" />
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]" />
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]" />
</command_laws>
<section name="IMU" prefix="IMU_">
<!-- Accelero -->
<define name="ACCEL_X_NEUTRAL" value="2048" />
<define name="ACCEL_Y_NEUTRAL" value="2048" />
<define name="ACCEL_Z_NEUTRAL" value="2048" />
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="0" />
<define name="MAG_Y_NEUTRAL" value="0" />
<define name="MAG_Z_NEUTRAL" value="-180" />
<define name="MAG_X_SENS" value="16." integer="16" />
<define name="MAG_Y_SENS" value="16." integer="16" />
<define name="MAG_Z_SENS" value="16." integer="16" />
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0" />
<define name="MAG_Y_CURRENT_COEF" value="0.0" />
<define name="MAG_Z_CURRENT_COEF" value="0.0" />
<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg" />
<define name="BODY_TO_IMU_THETA" value="3.0" unit="deg" />
<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg" />
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503" />
<define name="H_Y" value="0.0017972" />
<define name="H_Z" value="0.9211303" />
<!-- Use GPS heading instead of magneto -->
<define name="USE_GPS_HEADING" value="1" />
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0" />
</section>
<section name="INS" prefix="INS_">
<!--Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1" />
<define name="VFF_R_GPS" value="0.01" />
</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="600" 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="450" unit="deg/s" />
<define name="REF_ZETA_P" value="0.9" />
<define name="REF_MAX_P" value="600." unit="deg/s" />
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
<define name="REF_OMEGA_Q" value="450" unit="deg/s" />
<define name="REF_ZETA_Q" value="0.9" />
<define name="REF_MAX_Q" value="600." unit="deg/s" />
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
<define name="REF_OMEGA_R" value="450" unit="deg/s" />
<define name="REF_ZETA_R" value="0.9" />
<define name="REF_MAX_R" value="300." unit="deg/s" />
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.028551973" />
<define name="G1_Q" value="0.023775417" />
<define name="G1_R" value="0.00173069" />
<define name="G2_R" value="0.086460732" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="380.0" />
<define name="REF_ERR_Q" value="380.0" />
<define name="REF_ERR_R" value="70.0" />
<define name="REF_RATE_P" value="21.6" />
<define name="REF_RATE_Q" value="21.6" />
<define name="REF_RATE_R" value="11.0" />
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2" />
<!-- first order actuator dynamics -->
<define name="ACT_FREQ_P" value="31.7" />
<define name="ACT_FREQ_Q" value="31.7" />
<define name="ACT_FREQ_R" value="31.7" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0002" />
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<!-- Agressive gains -->
<define name="HOVER_KP" value="600" />
<define name="HOVER_KD" value="400" />
<!-- Less Agressive Gains
<define name="HOVER_KP" value="363" />
<define name="HOVER_KD" value="237" /> -->
<define name="HOVER_KI" value="13" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.61" />
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="22" unit="deg" />
<!-- Agressive Gains -->
<define name="PGAIN" value="363" />
<define name="DGAIN" value="237" />
<define name="IGAIN" value="30" />
<!-- Less Agressive Gains >
<define name="PGAIN" value="80" />
<define name="DGAIN" value="40" />
<define name="IGAIN" value="13" /> -->
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_MODULE" />
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO2" value="AP_MODE_NAV" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.6" unit="V" />
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V" />
<define name="LOW_BAT_LEVEL" value="10.2" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>
</airframe>
conf/airframes/tudelft/ardrone2_optitrack.xml
-207
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@@ -1,207 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="ardrone2_optitrack">
<description>
</description>
<firmware name="rotorcraft">
<target name="ap" board="ardrone2">
<configure name="USE_BARO_BOARD" value="FALSE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
<define name="USE_SONAR" value="0"/>
<configure name="USE_MAGNETOMETER" value="0"/>
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="ardrone2"/>
<module name="imu" type="ardrone2"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/>
<module name="bat_voltage_ardrone2"/>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="3000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<!-- Accelero -->
<define name="ACCEL_X_NEUTRAL" value="2048"/>
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="-180"/>
<define name="MAG_X_SENS" value="16." integer="16"/>
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<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>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
<!-- Use GPS heading instead of magneto -->
<define name="USE_GPS_HEADING" value="1"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
<section name="INS" prefix="INS_">
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.028551973"/>
<define name="G1_Q" value="0.023775417"/>
<define name="G1_R" value="0.00173069"/>
<define name="G2_R" value="0.086460732"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="380.0"/>
<define name="REF_ERR_Q" value="380.0"/>
<define name="REF_ERR_R" value="70.0"/>
<define name="REF_RATE_P" value="21.6"/>
<define name="REF_RATE_Q" value="21.6"/>
<define name="REF_RATE_R" value="11.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="180" 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="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="583"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
<define name="ADAPT_THROTTLE_ENABLED" value="false"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="363"/>
<define name="DGAIN" value="237"/>
<define name="IGAIN" value="30"/>
<define name="VGAIN" value="0"/>
<define name="AGAIN" value="0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
<define name="JSBSIM_INIT" value="reset00" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<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"/>
<define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
<!-- <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> -->
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/nederdrone6.xml
+2 -2
View File
@@ -351,9 +351,9 @@
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_P" value="20."/>
<define name="FILT_CUTOFF_Q" value="20."/>
<define name="FILT_CUTOFF_R" value="4."/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- first order actuator dynamics -->
<!--define name="ACT_FREQ" value="{4.5, 4.5, 4.5, 4.5, 25.6, 25.6, 25.6, 25.6}"/-->
<define name="ACT_FREQ" value="{14.2, 14.2, 14.2, 14.2, 25.6, 25.6, 25.6, 25.6}"/>
<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
conf/airframes/tudelft/nederdrone7.xml
-58
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@@ -163,64 +163,6 @@
</module>
<module name="motor_mixing"/>
<!--Airspeed estimation using EKF-->
<module name="ekf_aw">
<define name="EKF_AW_P0_V_BODY" value="1.E-2f" description="Initial covariance body velocity"/>
<define name="EKF_AW_P0_MU" value="1.E-5f" description="Initial covariance wind"/>
<define name="EKF_AW_P0_OFFSET" value="1.E-10f" description="Initial covariance offset"/>
<define name="EKF_AW_Q_ACCEL" value="1.0E-4f" description="Accel process noise"/>
<define name="EKF_AW_Q_GYRO" value="1.0E-9f" description="Gyro process noise"/>
<define name="EKF_AW_Q_MU" value="1.0E-6f" description="Wind process noise"/>
<define name="EKF_AW_Q_OFFSET" value="1.0E-8f" description="Offset process noise"/>
<define name="EKF_AW_R_V_GND" value="1.E-5f" description="GPS Velocity measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_X" value="1.E-5f" description="Filtered x accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Y" value="1.E-5f" description="Filtered y accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Z" value="1.E-5f" description="Filtered z accel measurement noise"/>
<define name="EKF_AW_R_V_PITOT" value="1.E-7f" description="Pitot Tube Velocity measurement noise"/>
<define name="EKF_AW_AZ_SCHED_GAIN" value="2" />
<define name="EKF_AW_AZ_SCHED_START_DEG" value="60" />
<define name="EKF_AW_AZ_SCHED_END_DEG" value="70" />
<define name="EKF_AW_AX_SCHED_GAIN" value="0" />
<define name="EKF_AW_AX_SCHED_START_DEG" value="45" />
<define name="EKF_AW_AX_SCHED_END_DEG" value="60" />
<define name="EKF_AW_QUICK_CONVERGENCE" value="true" />
<define name="EKF_AW_QUICK_CONVERGENCE_TIME" value="15" />
<define name="EKF_AW_WING_INSTALLED" value="true" description="Use wing contribution"/>
<define name="EKF_AW_USE_MODEL_BASED_X" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_USE_MODEL_BASED_Y" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_USE_MODEL_BASED_Z" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_VEHICLE_MASS" value="6.5" description="Mass of the vehicle"/>
<define name="EKF_AW_K2_FX_FUSELAGE" value="-4E-2f" description="K*u*u"/>
<define name="EKF_AW_K3_FX_HOVER" value="-3E-1f" description="K*u"/>
<define name="EKF_AW_K1_FX_WING" value="-3.21432e-02f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K2_FX_WING" value="1.67195e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K3_FX_WING" value="5.9441e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K4_FX_WING" value="3.9839e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K5_FX_WING" value="3.5321e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K_FY_V" value="-3.2E-1f" description="Fy beta coefficient"/>
<define name="EKF_AW_K1_FY_WING" value="0.0f" description="Fy = K1*cos(skew)*sin(skew)*u^2"/>
<define name="EKF_AW_K1_FZ_WING" value="-1.0008e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K2_FZ_WING" value="-8.6965e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K3_FZ_WING" value="1.45783e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K4_FZ_WING" value="2.185395e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_TELEMETRY_DEBUG" value="false" description="debug mode to send timing info through telemetry"/>
</module>
</firmware>
<!-- CAN BUS 1 (Front Wing) -->
conf/airframes/tudelft/rot_wing_25kg.xml
+2 -3
View File
@@ -241,7 +241,7 @@
<define name="DM_DPPRZ_HOVER_PITCH" value="0.00925"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.0085"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.0015, -0.011}"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.015, -0.011}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{0.0, -0.0}"/>
<define name="K_ELEVATOR" value="{ 1.27655, -13.3525, -80.0}"/>
@@ -259,7 +259,6 @@
<define name="K_LIFT_TAIL" value="-0.101691751"/>
</section>
<section name="MISC">
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 21.314 * adc)"/> <!-- ADC calibration -->
@@ -382,10 +381,10 @@
<define name="MAX_R" value="30.0" unit="deg/s"/>
<!-- Filters -->
<define name="FILTER_RATES_SECOND_ORDER" value="TRUE" />
<define name="FILT_CUTOFF_P" value="10.0"/>
<define name="FILT_CUTOFF_Q" value="10.0"/>
<define name="FILT_CUTOFF_R" value="5.0"/>
<define name="FILTER_RATES_SECOND_ORDER" value="TRUE" />
<define name="FILT_CUTOFF" value="2.0"/>
<define name="ESTIMATION_FILT_CUTOFF" value="2.0"/>
<define name="FILTER_YAW_RATE" value="TRUE"/>
conf/airframes/tudelft/rot_wing_v3b.xml
+3 -2
View File
@@ -40,6 +40,8 @@
<configure name="USE_TFMINI_AGL" value="TRUE"/>
</module>
<module name="wing_rotation_adc_sensor"/>
<!-- <module name="mavlink">
<configure name="MAVLINK_BAUD" value="B115200"/>
<configure name="MAVLINK_PORT" value="UART8"/>
@@ -126,7 +128,6 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="wing_rotation_adc_sensor"/>
<module name="rot_wing_automation"/>
<module name="ground_detect_sensor"/>
<module name="rotwing_state"/>
@@ -323,7 +324,7 @@
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
<define name="PFC_ACTUATORS" value="{{.feedback_id=255, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=255, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=1800, .timeout=3}}"/>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
conf/airframes/tudelft/rot_wing_v3d.xml
+3
View File
@@ -233,6 +233,9 @@
<axis name="SKEW" failsafe_value="0"/>
<!-- default commands -->
<axis name="THRUST" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<command_laws>
conf/airframes/tudelft/rot_wing_v3e.xml
+2
View File
@@ -266,6 +266,8 @@
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
<set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)" SERVO="BROTATION_MECH"/>
<call fun="actuators_pprz[9] = (rotwing_state_skewing.servo_pprz_cmd + MAX_PPRZ) / 2."/><!-- Fill skew for NPS: see NPS_ACTUATOR_NAMES for index -->
</command_laws>
<section PREFIX="SYS_ID_" NAME="SYS_ID">
conf/userconf/tudelft/conf.xml
+1 -34
View File
@@ -1,26 +1,4 @@
<conf>
<aircraft
name="ARDrone2_OF_Hover"
ac_id="44"
airframe="airframes/tudelft/ardrone2_OF_hover.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
<aircraft
name="ARDrone2_default"
ac_id="10"
airframe="airframes/examples/ardrone2.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
gui_color="#ffffd633d633"
/>
<aircraft
name="ARDrone2_indi"
ac_id="13"
@@ -43,17 +21,6 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_capture.xml"
gui_color="#ffffccc2ccc2"
/>
<aircraft
name="ARDrone2_optitrack"
ac_id="11"
airframe="airframes/tudelft/ardrone2_optitrack.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="#fffff996b847"
/>
<aircraft
name="BebopMavlink"
ac_id="9"
@@ -590,7 +557,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.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/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.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/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft
conf/userconf/tudelft/control_panel.xml
-1
View File
@@ -22,7 +22,6 @@
<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>
<program name="Log File Player" command="sw/logalizer/play"/>
<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<arg flag="-ac" constant="@AIRCRAFT"/>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
-5
View File
@@ -725,11 +725,6 @@ void stabilization_indi_rate_run(struct FloatRates rate_sp, bool in_flight)
for (i = 0; i < INDI_NUM_ACT; i++) {
actuators_pprz[i] = (int16_t) indi_u[i];
}
// Set the stab_cmd to 42 to indicate that it is not used
stabilization_cmd[COMMAND_ROLL] = 42;
stabilization_cmd[COMMAND_PITCH] = 42;
stabilization_cmd[COMMAND_YAW] = 42;
}
/**
sw/airborne/modules/rot_wing_drone/rotwing_state.c
+3
View File
@@ -579,7 +579,10 @@ void rotwing_state_skew_actuator_periodic(void)
#endif
#if USE_NPS
// Export to the index of the SKEW in the NPS_ACTUATOR_NAMES array
actuators_pprz[INDI_NUM_ACT] = (rotwing_state_skewing.servo_pprz_cmd + MAX_PPRZ) / 2.; // Scale to simulation command
// Simulate wing angle from command
rotwing_state_skewing.wing_angle_deg = (float) rotwing_state_skewing.servo_pprz_cmd / MAX_PPRZ * 45. + 45.;
// SEND ABI Message to ctr_eff_sched and other modules that want Actuator position feedback
sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.c
+1 -1
View File
@@ -56,7 +56,7 @@ void wing_rotation_adc_to_deg(void)
// SEND ABI Message to ctr_eff_sched and other modules that want Actuator position feedback
struct act_feedback_t feedback;
struct act_feedback_t feedback = {0};
feedback.idx = SERVO_ROTATION_MECH_IDX;
feedback.position = 0.5 * M_PI - RadOfDeg(wing_angle_deg);
feedback.set.position = true;
sw/airborne/modules/sensors/baro_sim.c
+1
View File
@@ -25,6 +25,7 @@
* Simulate barometer pressure measurement using gps.hmsl
*/
#include "modules/sensors/baro_sim.h"
#include "math/pprz_isa.h"
#include "modules/gps/gps.h"
#include "modules/core/abi.h"