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airframe updated

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Felix Ruess
2009-08-15 22:14:01 +00:00
parent f11fa3a505
commit de667db0ef
1 changed files with 160 additions and 159 deletions
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conf/airframes/booz2_flixr.xml
+160 -159
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@@ -1,204 +1,205 @@
<airframe name="BOOZ2_F1">
<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>
<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>
<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
<define name="MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT"/>
<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
</section>
<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>
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
</section>
<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="FRONT_ROTOR_CW" value="1"/> -->
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<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="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}" />
</section>
<section name="IMU" prefix="IMU_">
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1" />
<define name="GYRO_Q_CHAN" value="0" />
<define name="GYRO_R_CHAN" value="2" />
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="32372" />
<define name="GYRO_Q_NEUTRAL" value="32080" />
<define name="GYRO_R_NEUTRAL" value="31978" />
<define name="GYRO_P_NEUTRAL" value="32372"/>
<define name="GYRO_Q_NEUTRAL" value="32080"/>
<define name="GYRO_R_NEUTRAL" value="31978"/>
<define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
<define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
<define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
<define name="GYRO_P_SENS" value=" 1.1032765" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.1360802599" integer="16"/>
<define name="GYRO_R_SENS" value="-1.1249874614" integer="16"/>
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_CHAN" value="3" />
<define name="ACCEL_Y_CHAN" value="5" />
<define name="ACCEL_Z_CHAN" value="6" />
<define name="ACCEL_X_SENS" value="-2.46029007" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.45046527" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.48071774" integer="16"/>
<define name="ACCEL_X_SENS" value="-2.46029007" integer="16" />
<define name="ACCEL_Y_SENS" value="-2.45046527" integer="16" />
<define name="ACCEL_Z_SENS" value="-2.48071774" integer="16" />
<define name="ACCEL_X_NEUTRAL" value="31893"/>
<define name="ACCEL_Y_NEUTRAL" value="32204"/>
<define name="ACCEL_Z_NEUTRAL" value="33009"/>
<define name="ACCEL_X_NEUTRAL" value="31893" />
<define name="ACCEL_Y_NEUTRAL" value="32204" />
<define name="ACCEL_Z_NEUTRAL" value="33009" />
<define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_SENS" value="-3.3915023" integer="16"/>
<define name="MAG_Y_SENS" value="3.3855561" integer="16"/>
<define name="MAG_Z_SENS" value="-4.50143271" integer="16"/>
<define name="MAG_45_HACK" value="1"/>
<define name="MAG_X_CHAN" value="4" />
<define name="MAG_Y_CHAN" value="0" />
<define name="MAG_Z_CHAN" value="2" />
<define name="MAG_X_NEUTRAL" value="2054"/>
<define name="MAG_Y_NEUTRAL" value="1963"/>
<define name="MAG_Z_NEUTRAL" value="2078"/>
<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
</section>
<define name="MAG_X_SENS" value="-3.3915023" integer="16" />
<define name="MAG_Y_SENS" value="3.3855561" integer="16" />
<define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
<define name="MAG_45_HACK" value="1" />
<define name="MAG_X_NEUTRAL" value="2054" />
<define name="MAG_Y_NEUTRAL" value="1963" />
<define name="MAG_Z_NEUTRAL" value="2078" />
<define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
<define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
<define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))" />
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<section name="STABILIZATION_RATE" prefix="BOOZ_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="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"/>
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
</section>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="3000"/>
<define name="SP_MAX_THETA" value="3000"/>
<define name="SP_MAX_R" value="5500"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_ROLL" value="150"/>
<define name="DEADBAND_PITCH" value="150"/>
<!-- 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.)"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
<define name="REF_ZETA_P" value="0.9" />
<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_Q" value="RadOfDeg(800)" />
<define name="REF_ZETA_Q" value="0.9" />
<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.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
<define name="REF_ZETA_R" value="0.9" />
<define name="REF_MAX_R" value="RadOfDeg(180.)" />
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400" />
<define name="PHI_DGAIN" value="-300" />
<define name="PHI_IGAIN" value="-100" />
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400" />
<define name="THETA_DGAIN" value="-300" />
<define name="THETA_IGAIN" value="-100" />
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="-380" />
<define name="PSI_DGAIN" value="-320" />
<define name="PSI_IGAIN" value="-75" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300" />
<define name="THETA_DDGAIN" value=" 300" />
<define name="PSI_DDGAIN" value=" 300" />
</section>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16" />
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_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="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_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="HOVER_KP" value="-200" />
<define name="HOVER_KD" value="-100" />
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100" />
<define name="DGAIN" value="-100" />
<define name="IGAIN" value="-0" />
</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="0.246" integer="16"/>
<define name="BATTERY_OFFSET" value="0"/>
</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="0.246" integer="16" />
<define name="BATTERY_OFFSET" value="0" />
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
<define name="MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT" />
<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
</section>
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_buss.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
</makefile>