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[conf] Cleanup

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This commit is contained in:
Christophe De Wagter
2015-08-24 14:36:17 +02:00
parent f5b29d7b1f
commit d016d46d84
5 changed files with 26 additions and 245 deletions
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conf/airframes/OpenUAS/conf_openuas_obc2014.xml
+1 -1
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@@ -7,7 +7,7 @@
telemetry="telemetry/default_fixedwing.xml" telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml" flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml" settings="settings/fixedwing_basic.xml"
settings_modules="modules/nav_smooth.xml modules/infrared_adc.xml modules/tune_airspeed.xml" settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft <aircraft
conf/airframes/TUDelft/IMAV2013/conf.xml
+2 -2
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@@ -7,8 +7,8 @@
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml" flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
gui_color="red"
settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
gui_color="red"
/> />
<aircraft <aircraft
name="Ardrone2_184" name="Ardrone2_184"
@@ -18,8 +18,8 @@
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml" flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
gui_color="red"
settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
gui_color="red"
/> />
<aircraft <aircraft
name="Ardrone2_186" name="Ardrone2_186"
conf/airframes/TUDelft/airframes/bebop_default.xml
-219
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@@ -1,219 +0,0 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="bebop">
<firmware name="rotorcraft">
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="send_imu_mag_current.xml"/>
<!--load name="logger_file.xml">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load-->
<load name="video_rtp_stream.xml">
<define name="VIEWVIDEO_FPS" value="60"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_DEVICE" value="/dev/video0"/>
<define name="VIEWVIDEO_SUBDEV" value="/dev/v4l-subdev0"/>
<define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
<define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
<define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load>
</modules>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- 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_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="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="18"/>
<define name="MAG_Y_NEUTRAL" value="157"/>
<define name="MAG_Z_NEUTRAL" value="49"/>
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
<define name="MAG_Z_SENS" value="11.6479371722" 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_">
<!-- 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"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>
<section name="STABILIZATION_RATE" prefix="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="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<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="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</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="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
<!-- 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.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="920"/>
<define name="PHI_DGAIN" value="425"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="920"/>
<define name="THETA_DGAIN" value="425"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="8000"/>
<define name="PSI_DGAIN" value="700"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="0"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</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="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</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"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" 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_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</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="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/TUDelft/conf.xml
+1 -1
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@@ -46,7 +46,7 @@
<aircraft <aircraft
name="Bebop_default" name="Bebop_default"
ac_id="20" ac_id="20"
airframe="airframes/TUDelft/airframes/bebop_default.xml" airframe="airframes/examples/bebop.xml"
radio="radios/dummy.xml" radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml" flight_plan="flight_plans/rotorcraft_basic.xml"
conf/conf_example.xml
+22 -22
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@@ -98,6 +98,17 @@
settings_modules="modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml" settings_modules="modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft
name="Quad_Elle0"
ac_id="165"
airframe="airframes/examples/quadrotor_elle0.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft <aircraft
name="Quad_LisaMX" name="Quad_LisaMX"
ac_id="30" ac_id="30"
@@ -131,17 +142,6 @@
settings_modules="modules/gps_ubx_ucenter.xml" settings_modules="modules/gps_ubx_ucenter.xml"
gui_color="white" gui_color="white"
/> />
<aircraft
name="Quad_Elle0"
ac_id="165"
airframe="airframes/examples/quadrotor_elle0.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft <aircraft
name="Quad_NavGo" name="Quad_NavGo"
ac_id="151" ac_id="151"
@@ -252,17 +252,6 @@
settings_modules="modules/gps_ubx_ucenter.xml" settings_modules="modules/gps_ubx_ucenter.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft
name="setup_lisam2"
ac_id="16"
airframe="airframes/examples/setup_lisam2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/dummy.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/setup_actuators.xml"
settings_modules=""
gui_color="blue"
/>
<aircraft <aircraft
name="setup_elle0" name="setup_elle0"
ac_id="17" ac_id="17"
@@ -274,4 +263,15 @@
settings_modules="" settings_modules=""
gui_color="blue" gui_color="blue"
/> />
<aircraft
name="setup_lisam2"
ac_id="16"
airframe="airframes/examples/setup_lisam2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/dummy.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/setup_actuators.xml"
settings_modules=""
gui_color="blue"
/>
</conf> </conf>