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[ardrone2] merge remaining ardrone2 support

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closes #396
This commit is contained in:
Felix Ruess
2013-06-03 15:08:50 +02:00
parent f623864050
commit e1df2e5d71
48 changed files with 3063 additions and 8 deletions
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conf/airframes/ardrone2_raw.xml
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="ardrone2_raw">
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT" />
<!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
<configure name="USE_MAGNETOMETER" value="0" />
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="USE_BAROMETER" />
<subsystem name="telemetry" type="wifi" />
<subsystem name="radio_control" type="datalink" />
</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="ardrone2" />
<subsystem name="imu" type="ardrone2" />
<subsystem name="gps" type="sirf" />
<subsystem name="stabilization" type="int_quat" />
<subsystem name="ahrs" type="int_cmpl_quat" />
<subsystem name="ins" />
</firmware>
<!-- <modules main_freq="512"> <load name="sys_mon.xml" /> </modules> -->
<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>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500" />
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500" />
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500" />
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500" />
</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" />
<!-- Time cross layout (X), as documented in paparazzi -->
<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="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]" />
<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]" />
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]" />
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]" />
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="2072" />
<define name="ACCEL_Y_NEUTRAL" value="2040" />
<define name="ACCEL_Z_NEUTRAL" value="2047" />
<define name="ACCEL_X_SENS" value="19.1079036954" integer="16" />
<define name="ACCEL_Y_SENS" value="19.5393623518" integer="16" />
<define name="ACCEL_Z_SENS" value="19.6539180847" integer="16" />
<define name="ACCEL_X_SIGN" value="1" />
<define name="ACCEL_Y_SIGN" value="-1" />
<define name="ACCEL_Z_SIGN" value="-1" />
<define name="GYRO_P_SENS_NUM" value="4359" />
<define name="GYRO_P_SENS_DEN" value="1000" />
<define name="GYRO_Q_SENS_NUM" value="4359" />
<define name="GYRO_Q_SENS_DEN" value="1000" />
<define name="GYRO_R_SENS_NUM" value="4359" />
<define name="GYRO_R_SENS_DEN" value="1000" />
<define name="GYRO_P_SIGN" value="1" />
<define name="GYRO_Q_SIGN" value="-1" />
<define name="GYRO_R_SIGN" value="-1" />
<define name="MAG_X_NEUTRAL" value="118" />
<define name="MAG_Y_NEUTRAL" value="-65" />
<define name="MAG_Z_NEUTRAL" value="110" />
<define name="MAG_X_SENS" value="14.6416865144" integer="16" />
<define name="MAG_Y_SENS" value="14.5167340835" integer="16" />
<define name="MAG_Z_SENS" value="15.1670335124" integer="16" />
<define name="MAG_X_SIGN" value="-1" />
<define name="MAG_Y_SIGN" value="1" />
<define name="MAG_Z_SIGN" value="-1" />
<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
<!-- pitch -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
<!-- yaw -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
</section>
<!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3892503" />
<define name="H_Y" value="0.0017972" />
<define name="H_Z" value="0.9211303" />
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16" />
</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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="15" unit="deg" />
<define name="SP_MAX_THETA" value="15" unit="deg" />
<define name="SP_MAX_R" value="15" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<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="400." unit="deg/s" />
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
<define name="REF_OMEGA_Q" value="800" unit="deg/s" />
<define name="REF_ZETA_Q" value="0.85" />
<define name="REF_MAX_Q" value="400." unit="deg/s" />
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
<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="592" />
<define name="PHI_DGAIN" value="303" />
<define name="PHI_IGAIN" value="0" />
<define name="THETA_PGAIN" value="606" />
<define name="THETA_DGAIN" value="303" />
<define name="THETA_IGAIN" value="0" />
<define name="PSI_PGAIN" value="529" />
<define name="PSI_DGAIN" value="353" />
<define name="PSI_IGAIN" value="0" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0" />
<define name="THETA_DDGAIN" value="0" />
<define name="PSI_DDGAIN" value="52" />
</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="283" />
<define name="HOVER_KD" value="18" />
<define name="HOVER_KI" value="13" />
<!-- 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" />
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
estimation -->
<define name="NOMINAL_HOVER_THROTTLE" value="0.4" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg" />
<define name="PGAIN" value="100" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES"
value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&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_HOVER_Z_HOLD" />
</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="9.7" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>
</airframe>