From d3076cf83088a2970ace43bf5da1712c5bb03392 Mon Sep 17 00:00:00 2001
From: dewagter <dewagter@gmail.com>
Date: Tue, 2 Dec 2014 11:18:29 +0100
Subject: [PATCH] [conf] Lodewijk

---
 conf/airframes/LS/conf.xml                    |  12 +
 .../LS/quadrotor_mavtec_lisa_m_2_0.xml        | 219 ++++++++++++++++++
 conf/flight_plans/mavtec_outdoor_demo.xml     |  84 +++++++
 3 files changed, 315 insertions(+)
 create mode 100644 conf/airframes/LS/conf.xml
 create mode 100644 conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
 create mode 100644 conf/flight_plans/mavtec_outdoor_demo.xml

diff --git a/conf/airframes/LS/conf.xml b/conf/airframes/LS/conf.xml
new file mode 100644
index 0000000000..65f528d0ad
--- /dev/null
+++ b/conf/airframes/LS/conf.xml
@@ -0,0 +1,12 @@
+<conf>
+  <aircraft
+   name="AsctecLS"
+   ac_id="150"
+   airframe="airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml"
+   radio="radios/spektrum.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/mavtec_outdoor_demo.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
+   gui_color="white"
+  />
+</conf>
diff --git a/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml b/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
new file mode 100644
index 0000000000..cfbb6396a5
--- /dev/null
+++ b/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
@@ -0,0 +1,219 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is a quadrotor frame in X-configuration equiped with
+     * Autopilot:   Lisa-m 
+     * Actuators:   HobbyKing Avro Slim 20A
+     * GPS:         Ublox                  http://wiki.paparazziuav.org/wiki/Subsystem/gps
+     * RC:          one Spektrum sat       http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
+-->
+
+<airframe name="Quadrotor MavTec">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_2.0">
+      <subsystem name="radio_control" type="spektrum">
+      	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      	<define name="RADIO_MODE" value="RADIO_FLAP"/>
+      	<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
+      </subsystem>
+      <configure name="NO_LUFTBOOT" value="1"/>
+      <!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+    </subsystem>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="imu"           type="aspirin_v2.2"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat">
+      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
+    </subsystem>
+    <subsystem name="ins"/>
+  </firmware>
+
+  <firmware name="test_progs">
+  </firmware>
+
+  <modules>
+  </modules>
+
+  <servos driver="Pwm">
+    <servo name="MOTOR_1" no="0" min="1000" neutral="1100" max="1900"/>
+    <servo name="MOTOR_2" no="1" min="1000" neutral="1100" max="1900"/>
+    <servo name="MOTOR_3" no="2" min="1000" neutral="1100" max="1900"/>
+    <servo name="MOTOR_4" no="3" min="1000" neutral="1100" max="1900"/>
+  </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_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
+    <define name="ROLL_COEF"   value="{ -256, -256,  256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256, -256,  256 }"/>
+    <define name="YAW_COEF"    value="{ -256,  256, -256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="MOTOR_1"  value="motor_mixing.commands[0]"/>
+    <set servo="MOTOR_2"  value="motor_mixing.commands[1]"/>
+    <set servo="MOTOR_3"  value="motor_mixing.commands[2]"/>
+    <set servo="MOTOR_4"  value="motor_mixing.commands[3]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="-9"/>
+    <define name="ACCEL_Y_NEUTRAL" value="24"/>
+    <define name="ACCEL_Z_NEUTRAL" value="65"/>
+    <define name="ACCEL_X_SENS" value="4.90393762843" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.919330721" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.85197383186" integer="16"/>
+
+    <!-- replace this with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="-88"/>
+    <define name="MAG_Y_NEUTRAL" value="42"/>
+    <define name="MAG_Z_NEUTRAL" value="44"/>
+    <define name="MAG_X_SENS" value="3.55840131062" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.59312782171" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.16199901926" 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="270." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+    <define name="USE_GPS_HEADING" value="0"/>
+  </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="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="90." unit="deg/s"/>
+    <define name="DEADBAND_R" value="250"/>
+    <!-- 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="75"/>
+    <define name="THETA_DDGAIN" value="75"/>
+    <define name="PSI_DDGAIN" value="75"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP"    value="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="FALSE"/>
+  </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="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
+    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <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="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>
diff --git a/conf/flight_plans/mavtec_outdoor_demo.xml b/conf/flight_plans/mavtec_outdoor_demo.xml
new file mode 100644
index 0000000000..bb560a97a4
--- /dev/null
+++ b/conf/flight_plans/mavtec_outdoor_demo.xml
@@ -0,0 +1,84 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="3" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="100" name="MavTec Outdoor Demo" security_height="2">
+  <header>
+#include "autopilot.h"
+  </header>
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="CLIMB" x="0.0" y="5.0"/>
+    <waypoint name="STDBY" x="-2.0" y="-5.0"/>
+    <waypoint name="p1" x="3.6" y="-13.9"/>
+    <waypoint name="p2" x="27.5" y="-48.2"/>
+    <waypoint name="p3" x="16.7" y="-19.6"/>
+    <waypoint name="p4" x="13.7" y="-40.7"/>
+    <waypoint name="CAM" x="-20" y="-50"/>
+    <waypoint name="TD" x="5.6" y="-10.9"/>
+  </waypoints>
+  <blocks>
+    <block name="Wait GPS">
+      <call fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+      <!--<call fun="NavSetAltitudeReferenceHere()"/>-->
+    </block>
+    <block name="Holding point">
+      <call fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+    <block name="Start Engine">
+      <call fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <stay vmode="climb" climb="0.5" wp="CLIMB"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <stay wp="STDBY"/>
+    </block>
+    <block name="stay_p1">
+      <stay wp="p1"/>
+    </block>
+    <block name="go_p2">
+      <call fun="nav_set_heading_deg(90)"/>
+      <go wp="p2"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="line_p1_p2">
+      <go from="p1" hmode="route" wp="p2"/>
+      <stay wp="p2" until="stage_time>10"/>
+      <go from="p2" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="route">
+      <go from="p1" hmode="route" wp="p2"/>
+      <go from="p2" hmode="route" wp="p3"/>
+      <go from="p3" hmode="route" wp="p4"/>
+      <go from="p4" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
+      <circle radius="10" wp="CAM"/>
+    </block>
+    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
+      <call fun="NavSetWaypointHere(WP_TD)"/>
+    </block>
+    <block name="land">
+      <go wp="TD"/>
+    </block>
+    <block name="flare">
+      <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <exception cond="!nav_is_in_flight()" deroute="landed"/>
+      <call fun="NavStartDetectGround()"/>
+      <stay climb="-0.8" vmode="climb" wp="TD"/>
+    </block>
+    <block name="landed">
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+  </blocks>
+</flight_plan>