mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[iris] minor config changes
This commit is contained in:
Michal Podhradsky
@@ -40,7 +40,7 @@
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telemetry="telemetry/AGGIEAIR/aggieair_iris.xml"
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flight_plan="flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml"
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settings="settings/rotorcraft_basic.xml [settings/test_actuators_pwm.xml]"
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settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
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settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
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gui_color="#337e387bffff"
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/>
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<aircraft
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@@ -13,6 +13,8 @@
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<firmware name="rotorcraft">
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<target name="ap" board="px4fmu_2.4" />
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<configure name="PERIODIC_FREQUENCY" value="200"/>
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<configure name="TELEMETRY_FREQUENCY" value="60"/>
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<!-- amount of time it take for the bat to check -->
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<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
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@@ -26,7 +28,8 @@
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<module name="imu" type="px4fmu_v2.4"/>
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<module name="stabilization" type="indi_simple"/>
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<!--module name="stabilization" type="indi_simple"/-->
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<module name="stabilization" type="float_euler"/>
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<!--module name="guidance" type="indi">
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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@@ -41,21 +44,20 @@
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</module-->
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<module name="ahrs" type="float_mlkf">
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<!--configure name="SECONDARY_AHRS" value="float_mlkf"/-->
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<configure name="SECONDARY_AHRS" value="float_mlkf"/>
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<define name="AHRS_MLKF_IMU_ID" value="IMU_PX4_ID"/>
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<!-- use onboard mag -->
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<!--define name="AHRS_MLKF_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /-->
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<define name="AHRS_MLKF_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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</module>
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<!--
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<module name="ahrs" type="vectornav">
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<configure name="VN_PORT" value="UART3"/>
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<configure name="VN_BAUD" value="B921600"/>
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<configure name="TERTIARY_AHRS" value="vectornav"/>
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<!--configure name="SECONDARY_AHRS" value="vectornav"/-->
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</module>
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-->
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<!--module name="ins" type="float_invariant">
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<define name="INS_FINV_IMU_ID" value="IMU_PX4_ID" />
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@@ -80,7 +82,7 @@
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</module>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400" />
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<define name="SERVO_HZ" value="200" />
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</module>
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<define name="MEDIAN_DATASIZE" value="7"/>
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@@ -96,13 +98,14 @@
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<firmware name="rotorcraft">
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<target name="fbw" board="px4io_2.4" />
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<configure name="PERIODIC_FREQUENCY" value="200"/>
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<module name="motor_mixing" />
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<module name="radio_control" type="ppm">
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<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1" />
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<define name="RADIO_KILL_SWITCH" value="RADIO_KILL" />
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</module>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400" />
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<define name="SERVO_HZ" value="200" />
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</module>
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<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE" />
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<!-- Switch to Failsafe or to Autopilot on RC loss? -->
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@@ -116,9 +119,9 @@
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</module>
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</firmware>
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<modules main_freq="512">
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<modules main_freq="PERIODIC_FREQUENCY">
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<!-- allow flashing FBW target through AP -->
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<!--module name="px4_flash"/-->
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<module name="px4_flash"/>
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<!-- CPU utilization monitor -->
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<module name="sys_mon"/>
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@@ -143,7 +146,7 @@
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</module>
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<!-- external mag for better heading estimate -->
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<!--module name="mag" type="hmc58xx">
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<module name="mag" type="hmc58xx">
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
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<define name="HMC58XX_CHAN_X" value="1"/>
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@@ -152,7 +155,7 @@
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<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
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</module-->
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</module>
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<module name="air_data"/>
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</modules>
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@@ -165,22 +168,22 @@
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<section name="IMU" prefix="IMU_">
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<!-- #3 calibraton -->
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<!--
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<define name="ACCEL_X_NEUTRAL" value="-2"/>
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<define name="ACCEL_Y_NEUTRAL" value="23"/>
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<define name="ACCEL_Z_NEUTRAL" value="21"/>
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<define name="ACCEL_X_SENS" value="7.68290727703" integer="16"/>
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<define name="ACCEL_Y_SENS" value="7.41725548536" integer="16"/>
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<define name="ACCEL_Z_SENS" value="7.25648506436" integer="16"/>
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-->
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<!--#1 calibration -->
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<!--
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="12"/>
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<define name="ACCEL_Z_NEUTRAL" value="23"/>
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<define name="ACCEL_X_SENS" value="7.40346702354" integer="16"/>
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<define name="ACCEL_Y_SENS" value="7.31092326815" integer="16"/>
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<define name="ACCEL_Z_SENS" value="7.60884042632" integer="16"/>
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-->
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<!-- #3 internal mag -->
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<!--
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@@ -203,23 +206,23 @@
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-->
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<!-- #1 external mag -->
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<!--
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<define name="MAG_X_NEUTRAL" value="90"/>
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<define name="MAG_Y_NEUTRAL" value="-12"/>
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<define name="MAG_Z_NEUTRAL" value="3"/>
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<define name="MAG_X_SENS" value="3.9581923374" integer="16"/>
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<define name="MAG_Y_SENS" value="4.06927263588" integer="16"/>
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<define name="MAG_Z_SENS" value="4.43592657252" integer="16"/>
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-->
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<!-- #1 internal mag -->
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<!--
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<define name="MAG_X_NEUTRAL" value="-770"/>
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<define name="MAG_Y_NEUTRAL" value="2338"/>
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<define name="MAG_Z_NEUTRAL" value="-4760"/>
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<define name="MAG_X_SENS" value="0.37262897642" integer="16"/>
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<define name="MAG_Y_SENS" value="0.367752873196" integer="16"/>
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<define name="MAG_Z_SENS" value="0.388678431908" integer="16"/>
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-->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
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@@ -279,77 +282,55 @@
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<define name="H_Y" value="0.101896"/>
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<define name="H_Z" value="0.923411"/>
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<!-- trust more the baro over the gps alt -->
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<!--
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<define name="INV_NXZ" value="0.3"/>
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<define name="INV_NH" value="2.0"/>
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-->
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg" />
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<define name="SP_MAX_THETA" value="45" unit="deg" />
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<define name="SP_MAX_R" value="300" unit="deg/s" />
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<define name="DEADBAND_A" value="0" />
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<define name="DEADBAND_E" value="0" />
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<define name="DEADBAND_R" value="50" />
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="35." unit="deg"/>
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<define name="SP_MAX_THETA" value="35." unit="deg"/>
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<define name="SP_MAX_R" value="40." unit="deg/s"/>
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<define name="DEADBAND_A" value="5"/>
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<define name="DEADBAND_E" value="5"/>
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<define name="DEADBAND_R" value="10"/>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s" />
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<define name="REF_ZETA_P" value="0.9" />
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<define name="REF_MAX_P" value="600." unit="deg/s" />
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
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<define name="REF_OMEGA_Q" value="450" unit="deg/s" />
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<define name="REF_ZETA_Q" value="0.9" />
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<define name="REF_MAX_Q" value="600." unit="deg/s" />
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
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<define name="REF_OMEGA_R" value="450" unit="deg/s" />
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<define name="REF_ZETA_R" value="0.9" />
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<define name="REF_MAX_R" value="600." unit="deg/s" />
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)" />
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</section>
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<!-- inetgrator limits -->
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<define name="MAX_SUM_ERR" value="50"/>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<!-- Original values
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<define name="G1_P" value="0.017" />
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<define name="G1_Q" value="0.019" />
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<define name="G1_R" value="0.0011" />
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<define name="G2_R" value="0.089" />
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-->
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<!-- adapted values -->
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<define name="G1_P" value="0.0111687" />
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<define name="G1_Q" value="0.013964" />
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<define name="G1_R" value="0.000955" />
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<define name="G2_R" value="0.019337" />
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="FALSE" />
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<define name="FILTER_PITCH_RATE" value="FALSE" />
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<define name="FILTER_YAW_RATE" value="FALSE" />
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="70.0" />
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<define name="REF_ERR_Q" value="70.0" />
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<define name="REF_ERR_R" value="70.0" />
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<define name="REF_RATE_P" value="10.0" />
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<define name="REF_RATE_Q" value="10.0" />
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<define name="REF_RATE_R" value="10.0" />
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<!-- second order filter parameters -->
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<define name="FILT_OMEGA" value="20.0" />
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<define name="FILT_ZETA" value="0.55" />
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<define name="FILT_OMEGA_R" value="20.0" />
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<define name="FILT_ZETA_R" value="0.55" />
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.04" />
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<define name="ACT_DYN_Q" value="0.04" />
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<define name="ACT_DYN_R" value="0.04" />
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE" />
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<define name="ADAPTIVE_MU" value="0.0001" />
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<!-- max rates (conservative) -->
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<define name="MAX_RATE" value="90" unit="rad/s"/>
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<define name="MAX_R" value="90" unit="rad/s"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- Big fat ARK Gains -->
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<define name="PHI_PGAIN" value="2700"/>
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<define name="PHI_DGAIN" value="700"/>
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<define name="PHI_IGAIN" value="5.0"/>
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<define name="THETA_PGAIN" value="2700"/>
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<define name="THETA_DGAIN" value="700"/>
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<define name="THETA_IGAIN" value="5.0"/>
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<define name="PSI_PGAIN" value="4000"/>
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<define name="PSI_DGAIN" value="3500"/>
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<define name="PSI_IGAIN" value="1.5"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="5"/>
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<define name="THETA_DDGAIN" value="5"/>
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<define name="PSI_DDGAIN" value="10"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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