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*** empty log message ***
This commit is contained in:
Antoine Drouin
@@ -0,0 +1,166 @@
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<airframe name="BOOZ2_A2">
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<servos min="0" neutral="0" max="0xff">
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<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
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<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
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<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
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<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_CHAN" value="4"/>
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<define name="GYRO_Q_CHAN" value="0"/>
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<define name="GYRO_R_CHAN" value="1"/>
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<define name="GYRO_P_NEUTRAL" value="32734"/>
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<define name="GYRO_Q_NEUTRAL" value="32272"/>
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<define name="GYRO_R_NEUTRAL" value="32420"/>
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<define name="GYRO_P_SENS" value="-0.85" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
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<define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
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<define name="ACCEL_X_CHAN" value="2"/>
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<define name="ACCEL_Y_CHAN" value="5"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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<define name="ACCEL_X_SENS" value="-5.94047559" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-5.25008239" integer="16"/>
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<define name="ACCEL_Z_SENS" value=" 6.06493700" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="39897"/>
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<define name="ACCEL_Y_NEUTRAL" value="39865"/>
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<define name="ACCEL_Z_NEUTRAL" value="39735"/>
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<define name="MAG_X_CHAN" value="4"/>
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<define name="MAG_Y_CHAN" value="0"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
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<define name="MAG_Y_SENS" value="5.10207664" integer="16"/>
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<define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg( 0.0))"/>
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<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg( 0.0))"/>
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<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(-45.))"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
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<define name="SP_MAX_PHI" value="3000"/>
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<define name="SP_MAX_THETA" value="3000"/>
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<define name="SP_MAX_R" value="5500"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="PHI_THETA_PGAIN" value="-300"/>
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<define name="PHI_THETA_DGAIN" value="-200"/>
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<define name="PHI_THETA_DDGAIN" value=" 300"/>
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<define name="PHI_THETA_IGAIN" value="-50"/>
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<define name="PSI_PGAIN" value="-300"/>
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<define name="PSI_DGAIN" value="-200"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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<define name="PSI_IGAIN" value="-50"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="6"/>
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<define name="TRIM_R" value="0"/>
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</section>
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<section name="INS" prefix="BOOZ_INS_">
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<define name="BARO_SENS" value="14.9" integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="BOOZ_POS_I_OF_F(-10.)"/>
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<define name="MAX_ERR_Z" value="BOOZ_POS_I_OF_F( 10.)"/>
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<define name="MIN_ERR_ZD" value="BOOZ_SPEED_I_OF_F(-10.)"/>
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<define name="MAX_ERR_ZD" value="BOOZ_SPEED_I_OF_F( 10.)"/>
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<define name="HOVER_KP" value="-500"/>
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<define name="HOVER_KD" value="-250"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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</section>
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<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
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<define name="PGAIN" value="-100"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.25" integer="16"/>
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<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
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</section>
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<section name="AUTOPILOT">
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<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
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<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
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<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<section name="FMS">
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</section>
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<makefile>
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# calib bat
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# 8.39 80
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# 10.12 149
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# 12 227
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# 12.55 250
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#
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# prevents motors from ever starting
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#ap.CFLAGS += -DKILL_MOTORS
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
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sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
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ap.CFLAGS += -DUART1_BAUD=B57600
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_crista.makefile
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</makefile>
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</airframe>
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@@ -3,7 +3,7 @@
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// dimension one kalman filter estimating invert
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// of the mass
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//
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adp_sys_noise = 0.0000005;
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adp_sys_noise = 0.0005;
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adp_accel_noise = 0.5;
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adp_min_cmd = 0.01;
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@@ -30,12 +30,12 @@ ctl_type = CTL_MIAC;
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//
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// single input - height
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ctl_sp = zeros(1, length(time));
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if 0
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if 1
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// step 1m 5s
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k = find ( time > 3. & time < 6.);
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ctl_sp(k) = 1.;
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end
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if 1
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if 0
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// step 15m 14s
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k = find ( time > 1. & time < 7);
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ctl_sp(k) = 15.;
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@@ -59,7 +59,7 @@ if 0
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k = find(time >= 5 & time < 5.25);
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fdm_perturb(k) = 20.;
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end
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if 0
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if 1
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k = find(time >= 5);
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fdm_param(k) = 0.5*fdm_mass;
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end
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