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[airframes] use standard motor mixing types for some quads

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This will change the effect of the gains (depending on the type), but should be finally correct.
Especially the yaw commands have about half the effect now...
This commit is contained in:
Felix Ruess
2015-07-08 19:15:18 +02:00
parent 7f4ffbbda2
commit d6a7562c00
7 changed files with 24 additions and 53 deletions
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conf/airframes/ardrone2.xml
+5 -10
View File
@@ -52,22 +52,17 @@
<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="255"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (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 }"/>
<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[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
<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="IMU" prefix="IMU_">
conf/airframes/ardrone2_indi.xml
+5 -10
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@@ -53,22 +53,17 @@
<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="255"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (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 }"/>
<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[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
<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="IMU" prefix="IMU_">
conf/airframes/ardrone2_opticflow_hover.xml
+5 -10
View File
@@ -48,22 +48,17 @@
<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="255"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (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 }"/>
<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[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
<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="VISION" prefix="VISION_">
conf/airframes/bebop.xml
+5 -15
View File
@@ -60,26 +60,16 @@
</servos>
<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="255"/>
<define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="ROLL_COEF" value=" 256, -256, -256, 256" type="int[]"/>
<define name="PITCH_COEF" value=" 256, 256, -256, -256" type="int[]"/>
<define name="YAW_COEF" value=" -256, 256, -256, 256" type="int[]"/>
<define name="THRUST_COEF" value=" 256, 256, 256, 256" type="int[]"/>
<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[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
<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_">
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+1 -1
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@@ -63,7 +63,7 @@
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- front/back turning CW, right/left CCW -->
<!-- front (CW), right (CCW), back (CW), left (CCW) -->
<define name="TYPE" value="QUAD_PLUS"/>
</section>
conf/airframes/examples/quadrotor_navgo.xml
+2 -6
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@@ -49,13 +49,9 @@
<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"/>
<!-- FRONT CW, RIGHT CCW, BACK CW, LEFT CCW -->
<define name="ROLL_COEF" value="{ 0, -256, 0, 256}"/>
<define name="PITCH_COEF" value="{ 256, 0, -256, 0}"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
<define name="TYPE" value="QUAD_PLUS"/>
</section>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
conf/conf_example.xml
+1 -1
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@@ -211,7 +211,7 @@
<aircraft
name="bebop"
ac_id="202"
airframe="airframes/bebop.xml"
airframe="airframes/bebop_indi.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"