mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Demo planes
This commit is contained in:
Martin Mueller
committed by
Felix Ruess
Felix Ruess
parent
b22b731f08
commit
dc8f296c0c
@@ -1,14 +1,36 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Twinstar II, 2x Jeti 12 advance
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor
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XBee modem
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K66, LEA 5H
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R6107SP, LEA 5H
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-->
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<airframe name="Drops K66">
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<airframe name="Drops">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.1">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control_adaptive"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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<subsystem name="navigation_bomb"/>
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<subsystem name="gyro" type="roll">
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<param name="ADC_GYRO_ROLL" value="ADC_3"/>
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</subsystem>
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</firmware>
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<!-- commands section -->
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<servos>
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@@ -70,7 +92,7 @@
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="GYRO_ROLL" value="ADC_3"/>
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<define name="GYRO_NB_SAMPLES" value="32"/>
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<!--define name="GYRO_NB_SAMPLES" value="32"/-->
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</section>
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<section name="INFRARED" prefix="IR_">
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@@ -120,8 +142,6 @@
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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@@ -168,14 +188,19 @@
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-8898.3046875"/>
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<define name="PITCH_DGAIN" value="-1694.91503906"/>
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<define name="PITCH_IGAIN" value="0"/>
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<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
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<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
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<define name="ROLL_KFF" value="-500"/>
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<define name="ROLL_IGAIN" value="-5000"/>
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<define name="ROLL_KFFA" value="500"/>
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<define name="ROLL_KFFD" value="0"/>
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<define name="PITCH_KFFA" value="0"/>
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<define name="PITCH_KFFD" value="0"/>
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</section>
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<section name="NAV">
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@@ -209,13 +234,9 @@
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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<makefile>
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<!--makefile>
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CONFIG = \"tiny_2_1.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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@@ -280,5 +301,7 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
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sim.srcs += bomb.c
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</makefile>
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</makefile-->
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</airframe>
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@@ -0,0 +1,190 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
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XBee modem with AT firmware
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LEA 5H GPS
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-->
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<airframe name="Delta Wing">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="lisa_l_1.0"/>
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<define name="LOITER_TRIM"/>
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<define name="ARDUIMU_I2C_DEV" value="i2c2"/>
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<define name="PERIPHERALS_AUTO_INIT"/>
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<define name="USE_I2C2"/>
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<define name="USE_AD1"/>
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<subsystem name="radio_control" type="spektrum"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<!--subsystem name="attitude" type="infrared"/-->
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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<subsystem name="i2c"/>
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</firmware>
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<!-- modules -->
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<modules>
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<load name="ins_arduimu.xml">
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</load>
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</modules>
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<firmware name="lisa_l_test_progs">
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<target name="tunnel" board="lisa_l_1.0"/>
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<target name="test_led" board="lisa_l_1.0"/>
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<target name="test_uart" board="lisa_l_1.0"/>
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<target name="test_servos" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_imu_b2_2" board="lisa_l_1.0"/>
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<target name="test_imu_aspirin" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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<target name="test_hmc5843" board="lisa_l_1.0"/>
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<target name="test_itg3200" board="lisa_l_1.0"/>
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<target name="test_adxl345" board="lisa_l_1.0"/>
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<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
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<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
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<target name="test_actuators_mkk" board="lisa_l_1.0"/>
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<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1521" max="1100"/>
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<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1510" max="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(50)"/>
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<define name="MAX_PITCH" value="RadOfDeg(35)"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="2048"/>
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<define name="ADC_IR2_NEUTRAL" value="2048"/>
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<define name="ADC_TOP_NEUTRAL" value="2048"/>
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<define name="LATERAL_CORRECTION" value="-1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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</airframe>
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@@ -34,7 +34,7 @@
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="gps" type="ublox_lea4p"/>
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<!-- Nav -->
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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@@ -57,7 +57,7 @@
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1529" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
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</servos>
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@@ -6,7 +6,7 @@
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LEA 5H
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-->
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<airframe name="Funjet mm 1">
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<airframe name="Funjet mm 1 arduimu">
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<firmware name="fixedwing">
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<target name="sim" board="pc">
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@@ -40,7 +40,9 @@
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<subsystem name="gps" type="ublox_lea5h">
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<param name="GPS_BAUD" value="B38400"/>
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</subsystem>
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<!-- Nav -->
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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<subsystem name="i2c"/>
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</firmware>
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@@ -60,8 +62,8 @@
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1442" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1549" max="1900"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1479" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1496" max="1900"/>
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<servo name="HATCH" no="7" min="1070" neutral="1070" max="2200"/>
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</servos>
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@@ -9,6 +9,28 @@
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<airframe name="SlowFast">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.1">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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<subsystem name="gyro" type="roll">
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<param name="ADC_GYRO_ROLL" value="ADC_3"/>
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</subsystem>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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@@ -255,16 +277,4 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
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</makefile>
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-->
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.1"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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</firmware>
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</airframe>
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@@ -9,6 +9,38 @@
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<airframe name="SlowFast">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.1">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="USE_I2C0"/>
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</target>
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||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
<subsystem name="i2c"/>
|
||||
<subsystem name="gyro" type="roll">
|
||||
<param name="ADC_GYRO_ROLL" value="ADC_3"/>
|
||||
</subsystem>
|
||||
</firmware>
|
||||
|
||||
<!-- modules -->
|
||||
<modules>
|
||||
<load name="airspeed_ets.xml">
|
||||
<!--param name="USE_AIRSPEED" value="1"/-->
|
||||
<param name="SENSOR_SYNC_SEND" value="1"/>
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
@@ -138,6 +170,16 @@
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
<define name="AIRSPEED_MAX" value="45"/>
|
||||
<define name="AIRSPEED_MIN" value="14"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
@@ -191,11 +233,6 @@
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
@@ -253,17 +290,6 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
-->
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.1"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
</airframe>
|
||||
|
||||
|
||||
Executable
+242
@@ -0,0 +1,242 @@
|
||||
<!-- this is a mikrokopter frame equiped with Lisa/L and mikrokopter controllers -->
|
||||
|
||||
<airframe name="qmk1">
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<!-- for the sim -->
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="3"/>
|
||||
<define name="MAX_MOTOR" value="200"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="32858"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="33152"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="31779"/>
|
||||
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="32907"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="33046"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32830"/>
|
||||
<define name="ACCEL_X_SENS" value="2.57332012257" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.56968772349" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.56894625325" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="58"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="92"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-3"/>
|
||||
<define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
|
||||
|
||||
<!-- old calibration
|
||||
<define name="MAG_X_NEUTRAL" value="30"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="80"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="19"/>
|
||||
<define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
|
||||
-->
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.48" integer="16"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-2000"/>
|
||||
<define name="PHI_DGAIN" value="-400"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-2000"/>
|
||||
<define name="THETA_DGAIN" value="-400"/>
|
||||
<define name="THETA_IGAIN" value="-400"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-1000"/>
|
||||
<define name="PSI_DGAIN" value="-350"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
|
||||
<define name="BARO_SENS" value="10." integer="16"/>
|
||||
</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="-500"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<!--define name="INV_M" value ="0.2"/-->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-100"/>
|
||||
<define name="DGAIN" value="-100"/>
|
||||
<define name="IGAIN" value="-0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="INITIAL_CONDITITONS" value=""reset00""/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
<!-- -->
|
||||
<modules main_freq="512">
|
||||
<load name="vehicle_interface_overo_link.xml"/>
|
||||
</modules>
|
||||
<!-- -->
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_l_1.0">
|
||||
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="ahrs" type="cmpl"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_l_test_progs">
|
||||
<target name="test_led" board="lisa_l_1.0"/>
|
||||
<target name="test_uart" board="lisa_l_1.0"/>
|
||||
<target name="test_servos" board="lisa_l_1.0"/>
|
||||
<target name="test_telemetry" board="lisa_l_1.0"/>
|
||||
<target name="test_baro" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.0"/>
|
||||
<target name="test_adc" board="lisa_l_1.0"/>
|
||||
<target name="test_hmc5843" board="lisa_l_1.0"/>
|
||||
<target name="test_itg3200" board="lisa_l_1.0"/>
|
||||
<target name="test_adxl345" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_passthrough">
|
||||
<target name="overo_test_passthrough" board="lisa_l_1.0" >
|
||||
<param name="HOST" value="A7"/>
|
||||
<param name="USER" value=""/>
|
||||
<param name="TARGET_DIR" value="~"/>
|
||||
<param name="PERIODIC_FREQ" value="512"/>
|
||||
</target>
|
||||
<target name="stm_passthrough" board="lisa_l_1.0">
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
</target>
|
||||
</firmware>
|
||||
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,109 @@
|
||||
<!DOCTYPE settings SYSTEM "settings.dtd">
|
||||
|
||||
<!-- A conf to use to tune a new A/C -->
|
||||
|
||||
<settings>
|
||||
<dl_settings>
|
||||
<dl_settings NAME="flight params">
|
||||
<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
|
||||
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
|
||||
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings NAME="mode">
|
||||
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
|
||||
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
|
||||
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
|
||||
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
|
||||
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
|
||||
|
||||
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
|
||||
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
|
||||
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
|
||||
<key_press key="greater" value="1"/>
|
||||
<key_press key="less" value="-1"/>
|
||||
</dl_setting>
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings NAME="control">
|
||||
<dl_settings NAME="ir">
|
||||
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
|
||||
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
|
||||
|
||||
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
|
||||
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
|
||||
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
|
||||
|
||||
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
|
||||
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
|
||||
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
|
||||
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
|
||||
|
||||
</dl_settings>
|
||||
|
||||
|
||||
<dl_settings NAME="attitude">
|
||||
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
|
||||
<dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
|
||||
<dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
|
||||
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
|
||||
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
|
||||
|
||||
|
||||
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
|
||||
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
|
||||
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings name="alt">
|
||||
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings name="auto_throttle">
|
||||
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
|
||||
<strip_button name="Loiter" value="0.1"/>
|
||||
<strip_button name="Cruise" value="0"/>
|
||||
<strip_button name="Dash" value="1"/>
|
||||
</dl_setting>
|
||||
|
||||
|
||||
<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
|
||||
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
|
||||
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
|
||||
<!-- commented by poine - does anybody use that ?at all ? -->
|
||||
<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
|
||||
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
|
||||
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings name="auto_pitch">
|
||||
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
|
||||
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
|
||||
</dl_settings>
|
||||
|
||||
<dl_settings name="nav">
|
||||
<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
|
||||
<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
|
||||
<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
|
||||
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
|
||||
<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
|
||||
<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
|
||||
<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
|
||||
<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
|
||||
<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
|
||||
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
|
||||
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
|
||||
<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
|
||||
<dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
|
||||
<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</settings>
|
||||
Reference in New Issue
Block a user