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Bebop2 flight delft (#2527)
* Flying a bebop2 outside in Delft * tagged flying bebop2 airframe
This commit is contained in:
Ewoud Smeur
GitHub
@@ -75,19 +75,19 @@
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="286"/>
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<define name="MAG_Y_NEUTRAL" value="-156"/>
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<define name="MAG_Z_NEUTRAL" value="-275"/>
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<define name="MAG_X_SENS" value="7.074334106912319" integer="16"/>
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<define name="MAG_Y_SENS" value="7.069181442728008" integer="16"/>
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<define name="MAG_Z_SENS" value="7.411815536475566" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="43"/>
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<define name="MAG_Y_NEUTRAL" value="-151"/>
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<define name="MAG_Z_NEUTRAL" value="-64"/>
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<define name="MAG_X_SENS" value="7.21201776785" integer="16"/>
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<define name="MAG_Y_SENS" value="7.20541442846" integer="16"/>
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<define name="MAG_Z_SENS" value="7.55306977197" integer="16"/>
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<!--define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="-43"/>
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<define name="ACCEL_Z_NEUTRAL" value="-124"/>
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<define name="ACCEL_X_SENS" value="2.4523434144387464" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.428429001527193" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.423519834802844" integer="16"/-->
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<define name="ACCEL_X_NEUTRAL" value="-1"/>
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<define name="ACCEL_Y_NEUTRAL" value="-16"/>
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<define name="ACCEL_Z_NEUTRAL" value="-102"/>
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<define name="ACCEL_X_SENS" value="4.90615997669" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.8601827035" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.85967415403" integer="16"/>
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</section>
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<section name="INS" prefix="INS_">
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@@ -0,0 +1,132 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="10" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="1000" name="Delft Basic" security_height="2">
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<header>
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#include "autopilot.h"
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#include "subsystems/datalink/datalink.h"
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#include "subsystems/electrical.h"
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#include "subsystems/radio_control.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0.0" y="0.0"/>
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<waypoint name="CLIMB" x="0.0" y="5.0"/>
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<waypoint name="STDBY" x="-2.0" y="-5.0"/>
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<waypoint name="p1" x="-19.9" y="14.3"/>
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<waypoint name="p2" x="-0.6" y="21.6"/>
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<waypoint name="p3" x="22.2" y="-26.5"/>
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<waypoint name="p4" x="4.9" y="-34.4"/>
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<waypoint name="CAM" x="14.2" y="-29.4"/>
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<waypoint name="TD" x="5.6" y="-10.9"/>
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<waypoint name="_G1" x="-31.4" y="27.3"/>
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<waypoint name="_G2" x="0.5" y="37.0"/>
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<waypoint name="_G3" x="35.1" y="-33.6"/>
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<waypoint name="_G4" x="2.5" y="-46.9"/>
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</waypoints>
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<sectors>
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<sector color="red" name="Flight_Area" type="dynamic">
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<corner name="_G1"/>
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<corner name="_G2"/>
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<corner name="_G3"/>
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<corner name="_G4"/>
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</sector>
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</sectors>
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<exceptions>
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<exception cond="!InsideFlight_Area(GetPosX(), GetPosY())" deroute="Holding point"/>
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<exception cond="((radio_control.status == RC_REALLY_LOST) &&
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!(IndexOfBlock('Takeoff') > nav_block) &&
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!(nav_block >= IndexOfBlock('land here')) &&
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(autopilot_in_flight() == true) )" deroute="descend att 0"/>
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<exception cond="(datalink_time > 60 &&
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!(datalink_time > 120) &&
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!(IndexOfBlock('Takeoff') > nav_block) &&
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!(nav_block >= IndexOfBlock('land here')) &&
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(autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
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<exception cond="(electrical.bat_low &&
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!(IndexOfBlock('Holding point') > nav_block) &&
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!(nav_block >= IndexOfBlock('land here')) &&
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(autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
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<exception cond="(electrical.bat_critical &&
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!(IndexOfBlock('Holding point') > nav_block) &&
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!(nav_block >= IndexOfBlock('land here')) &&
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(autopilot_in_flight() == true) )" deroute="land here"/>
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call_once fun="NavSetAltitudeReferenceHere()"/>
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</block>
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<block name="Holding point">
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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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<call_once fun="NavResurrect()"/>
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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="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="line_p1_p2">
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<go from="p1" hmode="route" wp="p2"/>
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<stay until="stage_time>10" wp="p2"/>
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="route">
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<go from="p1" hmode="route" wp="p2"/>
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<go from="p2" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="test yaw">
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<go wp="p1"/>
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<for from="1" to="16" var="i">
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<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
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</for>
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<deroute block="Standby"/>
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</block>
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<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<circle radius="nav_radius" wp="CAM"/>
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</block>
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<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="land">
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<go wp="TD"/>
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</block>
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<block name="flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="landed"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="landed">
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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="ComeBackAndLand">
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<go wp="HOME"/>
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<deroute block="land here"/>
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</block>
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<block name="descend att 0">
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<attitude pitch="0" roll="0" throttle="0.40" until="stage_time > 30" vmode="throttle"/>
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<deroute block="Holding point"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -424,13 +424,14 @@
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<aircraft
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name="bebop2_22"
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ac_id="22"
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airframe="airframes/tudelft/bebop2_indi.xml"
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airframe="airframes/examples/bebop2_indi.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/delft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
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settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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flight_plan="flight_plans/tudelft/delft_bebop.xml"
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settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_secondary.xml]"
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settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ins_ekf2.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="#baa3d698b729"
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release="cde043338785efbaa7aac97e90cb272099a0c7ec"
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/>
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<aircraft
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name="bebop2_detect_gate_front"
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