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[board] support Matek F7 Wing

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This commit is contained in:
Gautier Hattenberger
2020-12-10 17:32:37 +01:00
parent a64f5fbdd0
commit e37090e14e
14 changed files with 3961 additions and 2 deletions
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conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml
+204
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@@ -0,0 +1,204 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="Matek F765-WING Test File">
<firmware name="fixedwing">
<configure name="RTOS_DEBUG" value="0"/>
<!--configure name="CH_OPT" value="0 -g -ggdb3"/-->
<target name="ap" board="matek_f765_wing">
<configure name="PERIODIC_FREQUENCY" value="100"/>
<module name="radio_control" type="sbus"/>
</target>
<target name="nps" board="pc">
<configure name="PERIODIC_FREQUENCY" value="100"/>
<module name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
</target>
<target name="sim" board="pc">
<module name="radio_control" type="ppm"/>
</target>
<module name="board" type="matek_f765_wing"/>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
</module>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="air_data"/>
<module name="telemetry" type="xbee_api"/>
<module name="control" type="new"/>
<module name="navigation"/>
<!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
<!--module name="tlsf"/>
<module name="pprzlog"/>
<module name="logger" type="sd_chibios"/>
<module name="flight_recorder"/-->
</firmware>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_RIGHT" no="3" max="1900" neutral="1416" min="1100"/>
<servo name="AILEVON_LEFT" no="4" max="1100" neutral="1586" min="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
<define name="AILERON_DIFF" value="0.5"/>
<define name="COMMAND_ROLL_TRIM" value="0"/>
<define name="COMMAND_PITCH_TRIM" value="0"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="45." unit="deg"/>
<define name="MAX_PITCH" value="30." unit="deg"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-41"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="24"/>
<define name="ACCEL_X_SENS" value="2.45166329295" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45072320868" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44974997157" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="1984"/>
<define name="MAG_Y_NEUTRAL" value="-528"/>
<define name="MAG_Z_NEUTRAL" value="1055"/>
<define name="MAG_X_SENS" value="0.676644619376" integer="16"/>
<define name="MAG_Y_SENS" value="0.667566939093" integer="16"/>
<define name="MAG_Z_SENS" value="0.663687314941" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>
<section name="INS" prefix="INS_">
<!--muret-->
<define name="H_X" value="0.5180"/>
<define name="H_Y" value="-0.0071"/>
<define name="H_Z" value="0.8554"/>
</section>
<section name="BAT">
<define name="CALIB_AMP_A" value="0.0045360"/>
<define name="CALIB_AMP_B" value="2.8136"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!--define name="MilliAmpereOfAdc(_adc)" value="(_adc-620)*4.536"/-->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>
<section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
<define name="HEIGHT" value="15."/>
<define name="DISTANCE" value="-10."/>
<define name="MIN_SPEED" value="2"/>
<define name="PITCH" value="12" unit="deg"/>
<define name="THROTTLE" value="1."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.011"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.006"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.13"/>
<define name="THROTTLE_SLEW" value="0.1"/>
<!-- TODO : CTRL_NEW "Climb loop (pitch)" -->
<define name="AUTO_PITCH_PGAIN" value="0.028"/>
<define name="AUTO_PITCH_DGAIN" value="0.013"/>
<define name="AUTO_PITCH_IGAIN" value="0.006"/>
<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
<define name="PITCH_TRIM" value="0." unit="deg"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.58"/>
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="10041"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<define name="PITCH_PGAIN" value="10672"/>
<define name="PITCH_DGAIN" value="1343"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_OF_ROLL" value="0.024"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_wind_estimator.h" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
</airframe>
conf/airframes/matek_f405_wing/Easyglider_matek_f405_autoload.xml
+1 -1
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@@ -29,7 +29,7 @@
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
<!-- load standard internal sensors, then custom modules -->
<module name="board_matek_wing">
<module name="board_matek_f405_wing">
<define name="BMP280_SYNC_SEND"/>
</module>