mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
Merge pull request #1956 from EwoudSmeur/conf_cleanup
Removed configurations inactive developers
This commit is contained in:
Freek van Tienen
GitHub
@@ -1,230 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop2_indi">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2">
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<define name="USE_SONAR" value="TRUE"/>
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<define name="STABILIZATION_INDI_G2_R" value="0.20"/>
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<!--define name="FAILSAFE_GROUND_DETECT"/-->
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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<!-- rotor inertia not modelled in simple_quad JSBSim model, set G2 to zero -->
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<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
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</target>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="indi"/>
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<module name="ahrs" type="float_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module>
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<!-- Enable the vertical estimator -->
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<module name="ins" type="extended"/>
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<!-- Enable the horizontal estimator -->
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<!-- <module name="ins" type="hff"> -->
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<!-- <define name="GPS_LAG" value="0.35"/> -->
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<!-- </module> -->
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<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
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</firmware>
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<modules main_freq="512">
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<module name="geo_mag"/>
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<module name="air_data"/>
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<!-- <module name="send_imu_mag_current"/>-->
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
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</module>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="REVERSE" value="TRUE"/>
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="-74"/>
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<define name="MAG_Y_NEUTRAL" value="33"/>
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<define name="MAG_Z_NEUTRAL" value="-189"/>
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<define name="MAG_X_SENS" value="7.32880539549" integer="16"/>
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<define name="MAG_Y_SENS" value="7.38826972194" integer="16"/>
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<define name="MAG_Z_SENS" value="7.71693452252" integer="16"/>
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<!-- Accelerometer Calibration -->
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<!-- <define name="ACCEL_X_NEUTRAL" value="72"/>
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<define name="ACCEL_Y_NEUTRAL" value="-20"/>
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<define name="ACCEL_Z_NEUTRAL" value="42"/>
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<define name="ACCEL_X_SENS" value="2.44509248843" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44634245634" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.43962899631" integer="16"/>-->
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<define name="H_X" value="0.0"/>
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<define name="H_Y" value="0.0"/>
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<define name="H_Z" value="0.0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="35" unit="deg"/>
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<define name="SP_MAX_THETA" value="35" unit="deg"/>
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<define name="SP_MAX_R" value="400" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.05"/>
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<define name="G1_Q" value="0.025"/>
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<define name="G1_R" value="0.0022"/>
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="TRUE"/>
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<define name="FILTER_PITCH_RATE" value="FALSE"/>
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<define name="FILTER_YAW_RATE" value="FALSE"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="170.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="14.3"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_OMEGA" value="20.0"/>
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<define name="FILT_ZETA" value="0.55"/>
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<define name="FILT_OMEGA_R" value="20.0"/>
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<define name="FILT_ZETA_R" value="0.55"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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<define name="ACT_DYN_Q" value="0.06"/>
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<define name="ACT_DYN_R" value="0.06"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="350"/>
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<define name="HOVER_KD" value="85"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.55"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="12" unit="deg"/>
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<define name="REF_MAX_SPEED" value="1" unit="m/s"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="120"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="1.0"/>
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<define name="DESCEND_VSPEED" value="-0.5"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -1,35 +0,0 @@
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<conf>
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<aircraft
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name="bebop2"
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ac_id="51"
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airframe="airframes/DB/db_bebop2_indi.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/DB/db_default_rotorcraft.xml"
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flight_plan="flight_plans/DB/db_outdoors.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/rotorcraft_speed.xml settings/control/stabilization_indi.xml [settings/control/stabilization_rate.xml] [settings/control/stabilization_att_int.xml] [settings/control/stabilization_att_int_quat.xml] [settings/control/stabilization_att_float_euler.xml]"
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settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
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gui_color="#0d890debf1c6"
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/>
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<aircraft
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name="mavshot"
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ac_id="52"
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airframe="airframes/DB/db_mavshot.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/DB/db_default_rotorcraft.xml"
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flight_plan="flight_plans/DB/db_outdoors.xml"
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settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2_new.xml"
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settings_modules="modules/geo_mag.xml [modules/gps_ubx_ucenter.xml] modules/gps.xml"
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gui_color="#ee1bf3780c03"
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/>
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<aircraft
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name="quadshot"
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ac_id="53"
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airframe="airframes/DB/db_quadshot_asp21_spektrum.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/DB/db_quadshot.xml"
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flight_plan="flight_plans/DB/db_quadshot_delft.xml"
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settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml settings/control/hybrid_guidance.xml"
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settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
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gui_color="blue"
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/>
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</conf>
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@@ -1,248 +0,0 @@
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<?xml version="1.0"?>
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<control_panel name="paparazzi control panel">
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<section name="programs">
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<program name="Server" command="sw/ground_segment/tmtc/server"/>
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<program name="Data Link" command="sw/ground_segment/tmtc/link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
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<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-edit"/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
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<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
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<program name="Settings" command="sw/ground_segment/tmtc/settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py">
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<arg flag="--ac_id" constant="@AC_ID"/>
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</program>
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<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
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<program name="Log Plotter" command="sw/logalizer/logplotter"/>
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<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
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<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/realtimeplotapp.py"/>
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<program name="Log File Player" command="sw/logalizer/play"/>
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<program name="Simulator" command="sw/simulator/pprzsim-launch">
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<arg flag="-a" constant="@AIRCRAFT"/>
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</program>
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<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="xbox_gamepad.xml"/>
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</program>
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<program name="Environment Simulator" command="sw/simulator/gaia"/>
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<program name="Http Server" command="$python">
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<arg flag="-m" constant="SimpleHTTPServer"/>
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<arg flag="8889"/>
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</program>
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<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
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<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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</program>
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<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
|
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<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
|
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<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
|
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<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
|
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<arg flag="--port" constant="/dev/ttyUSB1"/>
|
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<arg flag="--id" constant="1"/>
|
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</program>
|
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<program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
|
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<arg flag="/dev/ttyACM2"/>
|
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<arg flag="scan" />
|
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</program>
|
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<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
|
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<arg flag="/dev/ttyACM2"/>
|
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<arg flag="00:07:00:2d:d6:bb" />
|
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<arg flag="4242" />
|
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<arg flag="4252" />
|
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</program>
|
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<program name="ADS-B Intruders receiver" command="sw/ground_segment/misc/sbs2ivy">
|
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<arg flag="--ac" constant="@AC_ID"/>
|
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</program>
|
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</section>
|
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|
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<section name="sessions">
|
||||
|
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<session name="Flight UDP/WiFi">
|
||||
<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
<program name="Data Link">
|
||||
<arg flag="-udp"/>
|
||||
</program>
|
||||
</session>
|
||||
|
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<session name="Flight USB-serial@9600">
|
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<program name="Data Link">
|
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<arg flag="-d" constant="/dev/ttyUSB0"/>
|
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</program>
|
||||
<program name="Server"/>
|
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<program name="GCS"/>
|
||||
</session>
|
||||
|
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<session name="Flight USB-serial@57600">
|
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<program name="Data Link">
|
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<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
</session>
|
||||
|
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<session name="Flight USB-XBee-API@57600">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
|
||||
<arg flag="-transport" constant="xbee"/>
|
||||
<arg flag="-s" constant="57600"/>
|
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</program>
|
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<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
</session>
|
||||
|
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<session name="Flight USB-serial Redundant">
|
||||
<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
<program name="Data Link">
|
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<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||
<arg flag="-id" constant="1"/>
|
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<arg flag="-redlink"/>
|
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</program>
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyUSB1"/>
|
||||
<arg flag="-id" constant="2"/>
|
||||
<arg flag="-redlink"/>
|
||||
</program>
|
||||
<program name="Link Combiner"/>
|
||||
</session>
|
||||
|
||||
<session name="SupperBitRF">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyACM0"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
<program name="Messages"/>
|
||||
</session>
|
||||
|
||||
<session name="SupperBitRF cable telemetry">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyACM1"/>
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GCS"/>
|
||||
<program name="Messages"/>
|
||||
<program name="Messages"/>
|
||||
</session>
|
||||
|
||||
<session name="Messages and Settings">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server">
|
||||
<arg flag="-n"/>
|
||||
</program>
|
||||
<program name="Messages"/>
|
||||
<program name="Settings">
|
||||
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||
</program>
|
||||
</session>
|
||||
|
||||
<session name="Raw Sensors">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server">
|
||||
<arg flag="-n"/>
|
||||
</program>
|
||||
<program name="Messages">
|
||||
<arg flag="-g" constant="300x400+0-220"/>
|
||||
</program>
|
||||
<program name="Settings">
|
||||
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||
<arg flag="-g" constant="800x200+0-0"/>
|
||||
</program>
|
||||
<program name="Real-time Plotter">
|
||||
<arg flag="-g" constant="1000x250-0+0"/>
|
||||
<arg flag="-t" constant="ACC"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
|
||||
<arg flag="-n"/>
|
||||
<arg flag="-g" constant="1000x250-0+250"/>
|
||||
<arg flag="-t" constant="GYRO"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
|
||||
<arg flag="-n"/>
|
||||
<arg flag="-g" constant="1000x250-0+500"/>
|
||||
<arg flag="-t" constant="MAG"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
|
||||
<arg flag="-n"/>
|
||||
<arg flag="-g" constant="1000x250-0+750"/>
|
||||
<arg flag="-t" constant="BARO"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="101325.0"/>
|
||||
<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
|
||||
</program>
|
||||
</session>
|
||||
|
||||
<session name="Scaled Sensors">
|
||||
<program name="Data Link">
|
||||
<arg flag="-d" constant="/dev/ttyUSB0"/>
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server">
|
||||
<arg flag="-n"/>
|
||||
</program>
|
||||
<program name="Messages">
|
||||
<arg flag="-g" constant="300x400+0-220"/>
|
||||
</program>
|
||||
<program name="Settings">
|
||||
<arg flag="-ac" constant="@AIRCRAFT"/>
|
||||
<arg flag="-g" constant="800x200+0-0"/>
|
||||
</program>
|
||||
<program name="Real-time Plotter">
|
||||
<arg flag="-g" constant="1000x250-0+0"/>
|
||||
<arg flag="-t" constant="ACC"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="9.81"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="-9.81"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
|
||||
<arg flag="-n"/>
|
||||
<arg flag="-g" constant="1000x250-0+250"/>
|
||||
<arg flag="-t" constant="GYRO"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
|
||||
<arg flag="-n"/>
|
||||
<arg flag="-g" constant="1000x250-0+500"/>
|
||||
<arg flag="-t" constant="MAG"/>
|
||||
<arg flag="-u" constant="0.05"/>
|
||||
<arg flag="-c" constant="0.00"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
|
||||
<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
|
||||
</program>
|
||||
</session>
|
||||
|
||||
</section>
|
||||
|
||||
</control_panel>
|
||||
@@ -1,295 +0,0 @@
|
||||
<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
|
||||
More information on the Quadshot can be found at transition-robotics.com -->
|
||||
|
||||
<airframe name="quadshot aspirin 2.1 spektrum">
|
||||
|
||||
<servos driver="Pwm">
|
||||
<!-- <servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="B1" no="2" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="B2" no="3" min="1000" neutral="1100" max="2000"/>-->
|
||||
<servo name="ELEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<servos driver="Asctec_v2_new">
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
|
||||
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
|
||||
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
|
||||
</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>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[0]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[1]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[2]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
|
||||
|
||||
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
|
||||
<!-- First the correct feedback is stored in variables -->
|
||||
<let var="aileron_feedback_left" value="-@YAW"/>
|
||||
<let var="aileron_feedback_right" value="-@YAW"/>
|
||||
|
||||
<let var="elevator_feedback_left" value="+@PITCH"/>
|
||||
<let var="elevator_feedback_right" value="-@PITCH"/>
|
||||
|
||||
<!-- Here the gains are defined for the two feedback cases, hover and forward-->
|
||||
<let var="hover_left" value="3*$aileron_feedback_left"/>
|
||||
<let var="hover_right" value="3*$aileron_feedback_right"/>
|
||||
|
||||
<let var="forward_left" value="1*$aileron_feedback_left+4*$elevator_feedback_left"/>
|
||||
<let var="forward_right" value="1*$aileron_feedback_right+4*$elevator_feedback_right"/>
|
||||
|
||||
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
|
||||
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
|
||||
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
|
||||
</command_laws>
|
||||
|
||||
<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="256"/>
|
||||
<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
|
||||
<define name="YAW_COEF" value="{ 256, -256, -128, 128 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
|
||||
|
||||
<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
|
||||
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Use default driver values for gyro -->
|
||||
|
||||
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="0"/>
|
||||
<define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
|
||||
|
||||
<!-- <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/> -->
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MIN_BAT_LEVEL" value="10.9" units="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="10.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
|
||||
<section name ="GAIN_SETS">
|
||||
<define name="NUMBER_OF_GAINSETS" value="2"/>
|
||||
<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
|
||||
<define name="SCHEDULING_POINTS" value="{1000, 6000}"/>
|
||||
<define name="SCHEDULING_VARIABLE_FRAC" value="0"/>
|
||||
|
||||
<define name="PHI_P" value="{230, 230}"/>
|
||||
<define name="PHI_D" value="{170, 170}"/>
|
||||
<define name="PHI_I" value="{30, 30}"/>
|
||||
<define name="PHI_DD" value="{0, 0}"/>
|
||||
|
||||
<define name="THETA_P" value="{200, 300}"/>
|
||||
<define name="THETA_D" value="{100, 50}"/>
|
||||
<define name="THETA_I" value="{40, 40}"/>
|
||||
<define name="THETA_DD" value="{0, 0}"/>
|
||||
|
||||
<define name="PSI_P" value="{300, 300}"/>
|
||||
<define name="PSI_D" value="{150, 150}"/>
|
||||
<define name="PSI_I" value="{0, 0}"/>
|
||||
<define name="PSI_DD" value="{0, 0}"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
<define name="DEADBAND_A" value="250"/>
|
||||
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="170"/>
|
||||
<define name="PHI_DGAIN" value="120"/>
|
||||
<define name="PHI_IGAIN" value="30"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="150"/>
|
||||
<define name="THETA_DGAIN" value="70"/>
|
||||
<define name="THETA_IGAIN" value="40"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="300"/>
|
||||
<define name="PSI_DGAIN" value="150"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 0"/>
|
||||
<define name="THETA_DDGAIN" value=" 0"/>
|
||||
<define name="PSI_DDGAIN" value=" 0"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.012"/>
|
||||
<define name="G1_Q" value="0.04"/>
|
||||
<define name="G1_R" value="0.004"/>
|
||||
<define name="G2_R" value="0.0"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="70.0"/>
|
||||
<define name="REF_ERR_Q" value="45.0"/>
|
||||
<define name="REF_ERR_R" value="70.0"/>
|
||||
<define name="REF_RATE_P" value="9.0"/>
|
||||
<define name="REF_RATE_Q" value="16.0"/>
|
||||
<define name="REF_RATE_R" value="12.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_OMEGA" value="50.0"/>
|
||||
<define name="FILT_ZETA" value="0.7"/>
|
||||
<define name="FILT_OMEGA_R" value="20.0"/>
|
||||
<define name="FILT_ZETA_R" value="0.55"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.15"/>
|
||||
<define name="ACT_DYN_Q" value="0.15"/>
|
||||
<define name="ACT_DYN_R" value="0.15"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- Gains for vertical navigation -->
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="200"/>
|
||||
<define name="HOVER_KD" value="175"/>
|
||||
<define name="HOVER_KI" value="72"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
|
||||
<define name="H_X" value=" 0.47577"/>
|
||||
<define name="H_Y" value=" 0.11811"/>
|
||||
<define name="H_Z" value=" 0.87161"/>
|
||||
</section>
|
||||
|
||||
<!-- Gains for horizontal navigation-->
|
||||
<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="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/> -->
|
||||
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
|
||||
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
|
||||
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
|
||||
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
|
||||
<module name="led_safety_status">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="BODY"/>
|
||||
</module>
|
||||
|
||||
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
|
||||
<!--module name="gain_scheduling"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<!-- Put the mode on channel AUX1-->
|
||||
<define name="RADIO_KILL_SWITCH" value="5"/>
|
||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||
</module>
|
||||
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
|
||||
<!-- on aspirin 2.1 the ms5611 baro is not connected via SPI, use BMP085 on Lisa/M board instead -->
|
||||
<!-- <configure name="LISA_M_BARO" value="BARO_BOARD_BMP085"/> -->
|
||||
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
|
||||
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</module>
|
||||
<module name="actuators" type="asctec_v2_new"/>
|
||||
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="stabilization" type="rate_indi"/>
|
||||
<module name="guidance" type="hybrid"/>
|
||||
<module name="logger_spi_link"/>
|
||||
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<!--define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/-->
|
||||
</module>
|
||||
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
@@ -1,384 +0,0 @@
|
||||
<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
|
||||
More information on the Quadshot can be found at transition-robotics.com -->
|
||||
|
||||
<airframe name="quadshot aspirin 2.1 spektrum">
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="B1" no="2" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="B2" no="3" min="1000" neutral="1100" max="2000"/>
|
||||
<!-- <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>-->
|
||||
<!-- <servo name="ELEVON_LEFT" no="4" min="1150" neutral="1500" max="1850"/>
|
||||
<servo name="ELEVON_RIGHT" no="5" min="1150" neutral="1500" max="1850"/>-->
|
||||
<servo name="ELEVON_LEFT" no="4" min="1300" neutral="1500" max="1700"/>
|
||||
<servo name="ELEVON_RIGHT" no="5" min="1300" neutral="1500" max="1700"/>
|
||||
</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>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="A1" value="motor_mixing.commands[0]"/>
|
||||
<set servo="A2" value="motor_mixing.commands[1]"/>
|
||||
<set servo="B1" value="motor_mixing.commands[2]"/>
|
||||
<set servo="B2" value="motor_mixing.commands[3]"/>
|
||||
|
||||
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
|
||||
<!-- First the correct feedback is stored in variables -->
|
||||
<let var="aileron_feedback_left" value="-@YAW"/>
|
||||
<let var="aileron_feedback_right" value="-@YAW"/>
|
||||
|
||||
<let var="elevator_feedback_left" value="-@PITCH"/>
|
||||
<let var="elevator_feedback_right" value="+@PITCH"/>
|
||||
|
||||
<!-- Here the gains are defined for the two feedback cases, hover and forward-->
|
||||
<let var="hover_left" value="15*$aileron_feedback_left"/>
|
||||
<let var="hover_right" value="15*$aileron_feedback_right"/>
|
||||
|
||||
<!-- if using INDI -->
|
||||
<!-- <let var="forward_left" value="aileron_gain*$aileron_feedback_left+elevator_gain*$elevator_feedback_left"/>
|
||||
<let var="forward_right" value="aileron_gain*$aileron_feedback_right+elevator_gain*$elevator_feedback_right"/>-->
|
||||
|
||||
<!-- if using PID with gain scheduling -->
|
||||
<let var="forward_left" value="5*$aileron_feedback_left + 4*$elevator_feedback_left"/>
|
||||
<let var="forward_right" value="5*$aileron_feedback_right + 4*$elevator_feedback_right"/>
|
||||
|
||||
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
|
||||
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
|
||||
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
|
||||
<!-- <set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? 9000 : -9000" /> -->
|
||||
</command_laws>
|
||||
|
||||
<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="256"/>
|
||||
<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, 256, 128, -128 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
<!-- <define name="PITCH_COEF" value="{ 0, 0, 0, 0 }"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ 0, 0, 0, 0 }"/>
|
||||
<define name="THRUST_COEF" value="{ 0, 0, 0, 0 }"/>-->
|
||||
</section>
|
||||
|
||||
<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
|
||||
|
||||
<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
|
||||
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Use default driver values for gyro -->
|
||||
|
||||
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
|
||||
|
||||
<!-- <define name="MAG_X_NEUTRAL" value="104"/> -->
|
||||
<!-- <define name="MAG_Y_NEUTRAL" value="9"/> -->
|
||||
<!-- <define name="MAG_Z_NEUTRAL" value="15"/> -->
|
||||
<!-- <define name="MAG_X_SENS" value="3.57880347067" integer="16"/> -->
|
||||
<!-- <define name="MAG_Y_SENS" value="3.54049742843" integer="16"/> -->
|
||||
<!-- <define name="MAG_Z_SENS" value="4.0620533034" integer="16"/> -->
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-86"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-36"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="35"/>
|
||||
<define name="MAG_X_SENS" value="3.98639595061" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.00632407649" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.17946082997" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
|
||||
<!-- <define name="USE_YAW_FOR_MOTOR_ARMING" value="TRUE"/> -->
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<!-- <define name="MIN_BAT_LEVEL" value="10.8" units="V"/> -->
|
||||
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.8" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
</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="350"/>
|
||||
<define name="GAIN_Q" value="250"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
<define name="IGAIN_P" value="200"/>
|
||||
<define name="IGAIN_Q" value="200"/>
|
||||
<define name="IGAIN_R" value="200"/>
|
||||
</section>
|
||||
|
||||
<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
|
||||
<section name ="GAIN_SETS">
|
||||
<define name="NUMBER_OF_GAINSETS" value="2"/>
|
||||
<define name="SCHEDULING_VARIABLE" value="guidance_hybrid_norm_ref_airspeed"/>
|
||||
<define name="SCHEDULING_POINTS" value="{4, 10}"/>
|
||||
<define name="SCHEDULING_VARIABLE_FRAC" value="8"/>
|
||||
|
||||
|
||||
<define name="PHI_P" value="{150, 150}"/>
|
||||
<define name="PHI_D" value="{150, 150}"/>
|
||||
<define name="PHI_I" value="{30, 30}"/>
|
||||
<define name="PHI_DD" value="{0, 0}"/>
|
||||
|
||||
<define name="THETA_P" value="{100, 80}"/>
|
||||
<define name="THETA_D" value="{100, 110}"/>
|
||||
<define name="THETA_I" value="{40, 40}"/>
|
||||
<define name="THETA_DD" value="{0, 0}"/>
|
||||
|
||||
<define name="PSI_P" value="{300, 300}"/>
|
||||
<define name="PSI_D" value="{150, 150}"/>
|
||||
<define name="PSI_I" value="{0, 0}"/>
|
||||
<define name="PSI_DD" value="{0, 0}"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="100." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
<define name="DEADBAND_A" value="250"/>
|
||||
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="150"/>
|
||||
<define name="PHI_DGAIN" value="150"/>
|
||||
<define name="PHI_IGAIN" value="30"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="100"/>
|
||||
<define name="THETA_DGAIN" value="100"/>
|
||||
<define name="THETA_IGAIN" value="40"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="300"/>
|
||||
<define name="PSI_DGAIN" value="150"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 0"/>
|
||||
<define name="THETA_DDGAIN" value=" 0"/>
|
||||
<define name="PSI_DDGAIN" value=" 0"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="60." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
<define name="DEADBAND_A" value="250"/>
|
||||
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.025"/>
|
||||
<define name="G1_Q" value="0.0833"/>
|
||||
<define name="G1_R" value="0.00588"/>
|
||||
<define name="G2_R" value="0.0"/>
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="70.0"/>
|
||||
<define name="REF_ERR_Q" value="45.0"/>
|
||||
<define name="REF_ERR_R" value="70.0"/>
|
||||
<define name="REF_RATE_P" value="9.0"/>
|
||||
<define name="REF_RATE_Q" value="16.0"/>
|
||||
<define name="REF_RATE_R" value="12.0"/>
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_OMEGA" value="50.0"/>
|
||||
<define name="FILT_ZETA" value="0.7"/>
|
||||
<define name="FILT_OMEGA_R" value="20.0"/>
|
||||
<define name="FILT_ZETA_R" value="0.55"/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.03"/>
|
||||
<define name="ACT_DYN_Q" value="0.03"/>
|
||||
<define name="ACT_DYN_R" value="0.03"/>
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- Gains for vertical navigation -->
|
||||
<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="200"/>
|
||||
<define name="HOVER_KD" value="175"/>
|
||||
<define name="HOVER_KI" value="100"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value ="0.2"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Delft magnetic field -->
|
||||
<define name="H_X" value="0.39049610"/>
|
||||
<define name="H_Y" value="0.00278894"/>
|
||||
<define name="H_Z" value="0.92060036"/>
|
||||
</section>
|
||||
|
||||
<!-- Gains for horizontal navigation-->
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="50"/>
|
||||
<define name="IGAIN" value="65"/>
|
||||
|
||||
<define name="MAX_BANK" value="RadOfDeg(55)"/>
|
||||
<define name="FORWARD_MAX_BANK" value="RadOfDeg(35)"/>
|
||||
<define name="USE_REF" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="{1,1,1,1,1,1,1,1,1,1,1,1}"/>
|
||||
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
|
||||
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
|
||||
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
|
||||
<define name="TRANSITION_MAX_OFFSET" value="-75.0" unit="deg"/>
|
||||
|
||||
<define name="RC_LOST_MODE" value="MODE_AUTO2"/>
|
||||
|
||||
<define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
|
||||
|
||||
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
|
||||
|
||||
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
|
||||
|
||||
<define name="THRESHOLD_GROUND_DETECT" value="25.0"/>
|
||||
<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
|
||||
<define name="FAILSAFE_GROUND_DETECT" value="TRUE"/>
|
||||
<define name="HYBRID_NAVIGATION" value="TRUE"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
<define name="ADAPTIVE_INDI" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
|
||||
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
|
||||
<load name="led_safety_status.xml">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="BODY"/>
|
||||
</load>
|
||||
|
||||
<load name="sonar_adc.xml">
|
||||
<configure name="ADC_SONAR" value="ADC_2"/>
|
||||
<!-- <define name="USE_SONAR"/> -->
|
||||
<define name="SENSOR_SYNC_SEND_SONAR"/>
|
||||
<define name="SONAR_SCALE" value="0.0032"/>
|
||||
</load>
|
||||
|
||||
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
|
||||
<!-- <load name="airspeed_ets.xml">
|
||||
<define name="AIRSPEED_ETS_SYNC_SEND"/>
|
||||
</load>-->
|
||||
|
||||
<module name="logger_spi_link"/>
|
||||
|
||||
<!-- <load name="AOA_adc.xml">
|
||||
<configure name="ADC_AOA" value="ADC_2"/>
|
||||
<define name="AOA_OFFSET" value="0"/>
|
||||
<define name="AOA_FILTER" value="0"/>
|
||||
<define name="USE_AOA"/>
|
||||
<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
|
||||
</load>-->
|
||||
|
||||
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
|
||||
<!-- <module name="gain_scheduling"/> -->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_KILL_SWITCH" value="5"/>
|
||||
<!-- Put the mode on channel AUX1-->
|
||||
<define name="RADIO_MODE" value="6"/>
|
||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||
</module>
|
||||
|
||||
<!-- ONLY if flashing via JTAG cable -->
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
<configure name="BMP_PORT" value="/dev/ttyACM0" />
|
||||
|
||||
<!-- To use an airspeed sensor on I2C, enable I2C2-->
|
||||
<!-- <define name="USE_I2C2"/> -->
|
||||
|
||||
|
||||
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
|
||||
<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
|
||||
<configure name="LISA_M_BARO" value="BARO_BOARD_BMP085"/>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<!-- <module name="telemetry" type="transparent"/> -->
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<!-- <module name="stabilization" type="int_quat"/> -->
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="guidance" type="hybrid"/>
|
||||
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="1"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
||||
</module>
|
||||
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
@@ -1,46 +0,0 @@
|
||||
<conf>
|
||||
<aircraft
|
||||
name="Altura"
|
||||
ac_id="151"
|
||||
airframe="airframes/LS/ls_quadrotor_altura_lisa_m_2_0.xml"
|
||||
radio="radios/spektrum.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
|
||||
settings_modules="modules/gps_ubx_ucenter.xml"
|
||||
gui_color="#00000000ffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="BebopSmallGPSMes"
|
||||
ac_id="1"
|
||||
airframe="airframes/LS/ls_quadrotor_bebop_small_gps_messages.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_optitrack.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_guidance.xml"
|
||||
settings_modules="modules/geo_mag.xml modules/air_data.xml"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
name="LadyLisaBluegiga"
|
||||
ac_id="2"
|
||||
airframe="airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml"
|
||||
radio="radios/spektrum.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_optitrack.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
|
||||
settings_modules=""
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
name="MavTecLS"
|
||||
ac_id="150"
|
||||
airframe="airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml"
|
||||
radio="radios/spektrum.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
|
||||
settings_modules=""
|
||||
gui_color="#ffff00000000"
|
||||
/>
|
||||
</conf>
|
||||
@@ -1,239 +0,0 @@
|
||||
<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
|
||||
<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
|
||||
|
||||
<!--
|
||||
The motor and rotor configuration is the following:
|
||||
|
||||
Front
|
||||
^
|
||||
|
|
||||
|
||||
Motor3(NW) Motor0(NE)
|
||||
CW CCW
|
||||
\ /
|
||||
,___,
|
||||
| |
|
||||
| |
|
||||
|___|
|
||||
/ \
|
||||
CCW CW
|
||||
Motor2(SW) Motor1(SE)
|
||||
|
||||
The Lisa/S is rotated by 13deg CCW against the frame.
|
||||
-->
|
||||
|
||||
<!--
|
||||
Applicable configuration:
|
||||
airframe="airframes/examples/ladybird_lisa_s.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
|
||||
-->
|
||||
|
||||
<airframe name="quadrotor_lisa_s">
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
|
||||
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
|
||||
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
|
||||
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
|
||||
</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>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="NE" value="motor_mixing.commands[0]"/>
|
||||
<set servo="SE" value="motor_mixing.commands[1]"/>
|
||||
<set servo="SW" value="motor_mixing.commands[2]"/>
|
||||
<set servo="NW" value="motor_mixing.commands[3]"/>
|
||||
</command_laws>
|
||||
|
||||
<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="256"/>
|
||||
<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>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<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="-13." unit="deg"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
|
||||
<!-- MAGNETO CALIBRATION DELFT -->
|
||||
<define name="MAG_X_NEUTRAL" value="286"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-72"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="97"/>
|
||||
<define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
|
||||
|
||||
<!-- MAGNETO CURRENT CALIBRATION -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_PSI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="SP_MAX_P" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
<define name="DEADBAND_A" 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="90." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="400"/>
|
||||
<define name="PHI_DGAIN" value="200"/>
|
||||
<define name="PHI_IGAIN" value="100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="400"/>
|
||||
<define name="THETA_DGAIN" value="200"/>
|
||||
<define name="THETA_IGAIN" value="100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="2000"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
<define name="PHI_AGAIN" value="0"/>
|
||||
<define name="THETA_AGAIN" value="0"/>
|
||||
<define name="PSI_AGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="USE_GPS_ALT" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="276"/>
|
||||
<define name="HOVER_KD" value="455"/>
|
||||
<define name="HOVER_KI" value="100"/>
|
||||
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value=" 0.47577"/>
|
||||
<define name="H_Y" value=" 0.11811"/>
|
||||
<define name="H_Z" value=" 0.87161"/>
|
||||
<define name="USE_GPS_HEADING" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="39"/>
|
||||
<define name="DGAIN" value="50"/>
|
||||
<define name="IGAIN" value="19"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="send_imu_mag_current"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_s_1.0">
|
||||
<module name="radio_control" type="datalink">
|
||||
<!-- To store the binding parameters for the superbit radio in your
|
||||
airframe file uncomment the following three lines and set the
|
||||
correct values based on the output of the superbitrf telemetry
|
||||
messages. -->
|
||||
<!--define name="RADIO_TRANSMITTER_ID" value="1335259868"/--> <!-- Esden (1BitSquared) Dx6i: TX 1 -->
|
||||
<!--define name="RADIO_TRANSMITTER_CHAN" value="6"/-->
|
||||
<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/-->
|
||||
</module>
|
||||
<configure name="USE_MAGNETOMETER" value="0"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
|
||||
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
|
||||
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
|
||||
-->
|
||||
<!-- Setting the PWM timer base frequency to 36MHz -->
|
||||
<define name="PWM_BASE_FREQ" value="36000000"/>
|
||||
<!-- Setting the PWM interval to 36KHz -->
|
||||
<define name="SERVO_HZ" value="36000"/>
|
||||
<define name="USE_SERVOS_1AND2"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="bluegiga"/>
|
||||
<!-- Comment the previous line and uncomment the following one if you need
|
||||
to use the debug serial interface for telemetry. -->
|
||||
<!--module name="telemetry" type="transparent"/-->
|
||||
<module name="imu" type="lisa_s_v1.0">
|
||||
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
||||
</module>
|
||||
<module name="gps" type="datalink"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
@@ -1,190 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="Quadrotor LisaM_2.0 pwm">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||
<!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
|
||||
</module>
|
||||
<configure name="NO_LUFTBOOT" value="1"/>
|
||||
<configure name="FLASH_MODE" value="SWD" />
|
||||
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
<define name="USE_SERVOS_7AND8"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="mpu6000_hmc5883">
|
||||
<!-- the default i2c2 port is used -->
|
||||
</module>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="MOTOR_1" no="0" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_2" no="1" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_3" no="2" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_4" no="3" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_5" no="4" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_6" no="5" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_7" no="6" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="MOTOR_8" no="7" min="1000" neutral="1100" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<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="8"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<!-- order (and rotation direction) : MOTOR 1 (CW), MOTOR 2 (CCW), MOTOR 3 (CW), MOTOR 4 (CCW) -->
|
||||
<!-- MOTOR 5 (CCW), MOTOR 6 (CW), MOTOR 7 (CCW), MOTOR 8 (CW) -->
|
||||
<define name="ROLL_COEF" value="{ -256, -256, 256, 256, -256, -256, 256, 256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, -256, 256, 256, -256, -256, 256 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, 256, -256, 256, 256, -256, 256, -256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="MOTOR_1" value="motor_mixing.commands[0]"/>
|
||||
<set servo="MOTOR_2" value="motor_mixing.commands[1]"/>
|
||||
<set servo="MOTOR_3" value="motor_mixing.commands[2]"/>
|
||||
<set servo="MOTOR_4" value="motor_mixing.commands[3]"/>
|
||||
<set servo="MOTOR_5" value="motor_mixing.commands[4]"/>
|
||||
<set servo="MOTOR_6" value="motor_mixing.commands[5]"/>
|
||||
<set servo="MOTOR_7" value="motor_mixing.commands[6]"/>
|
||||
<set servo="MOTOR_8" value="motor_mixing.commands[7]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="-9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="24"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="65"/>
|
||||
<define name="ACCEL_X_SENS" value="4.90393762843" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.919330721" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.85197383186" integer="16"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-40"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-57"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="66"/>
|
||||
<define name="MAG_X_SENS" value="4.5080259094" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.56447191049" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.11168950826" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." 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="400" 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="400" 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="250" 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="300"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="300"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="200"/>
|
||||
<define name="PSI_DGAIN" value="400"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="12.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="13.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
|
||||
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,188 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="bebop">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop">
|
||||
<configure name="USE_MAGNETOMETER" value="0"/> <!-- Disable magnetometer -->
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<!--define name="USE_SONAR" value="TRUE"/-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="bebop"/>
|
||||
<module name="imu" type="bebop"/>
|
||||
<module name="gps" type="datalink"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module-->
|
||||
</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="6000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
|
||||
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<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[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_">
|
||||
<define name="CALC_AIRSPEED" value="FALSE"/>
|
||||
<define name="CALC_TAS_FACTOR" value="FALSE"/>
|
||||
<define name="CALC_AMSL_BARO" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="18"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="157"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="49"/>
|
||||
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
|
||||
|
||||
<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>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Delft -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
<define name="USE_GPS_HEADING" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="300" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="2500"/>
|
||||
<define name="PHI_DGAIN" value="300"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="2500"/>
|
||||
<define name="THETA_DGAIN" value="300"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="8000"/>
|
||||
<define name="PSI_DGAIN" value="700"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="200"/>
|
||||
<define name="IGAIN" value="15"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<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_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<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>
|
||||
@@ -1,194 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame in X-configuration equiped with
|
||||
* Autopilot: Lisa-m
|
||||
* Actuators: HobbyKing Afro Slim 20A with BLHeli 14.0
|
||||
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
|
||||
* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
|
||||
-->
|
||||
|
||||
<airframe name="Quadrotor MavTec">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||
<!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
|
||||
</module>
|
||||
<configure name="NO_LUFTBOOT" value="1"/>
|
||||
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</module>
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="test_progs">
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="MOTOR_1" no="0" min="1148" neutral="1200" max="1832"/>
|
||||
<servo name="MOTOR_2" no="1" min="1148" neutral="1200" max="1832"/>
|
||||
<servo name="MOTOR_3" no="2" min="1148" neutral="1200" max="1832"/>
|
||||
<servo name="MOTOR_4" no="3" min="1148" neutral="1200" max="1832"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<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="256"/>
|
||||
<!-- order (and rotation direction) : NE (CCW), SE (CW), SW (CCW), NW (CW) -->
|
||||
<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="MOTOR_1" value="motor_mixing.commands[0]"/>
|
||||
<set servo="MOTOR_2" value="motor_mixing.commands[1]"/>
|
||||
<set servo="MOTOR_3" value="motor_mixing.commands[2]"/>
|
||||
<set servo="MOTOR_4" value="motor_mixing.commands[3]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="-9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="24"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="65"/>
|
||||
<define name="ACCEL_X_SENS" value="4.90393762843" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="4.919330721" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="4.85197383186" integer="16"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-88"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="42"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="44"/>
|
||||
<define name="MAG_X_SENS" value="3.55840131062" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.59312782171" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.16199901926" 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="270." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
<define name="USE_GPS_HEADING" value="0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- Use GPS altitude measurments and set the R gain -->
|
||||
<!-- define name="USE_GPS_ALT" value="1"/ -->
|
||||
<!-- define name="VFF_R_GPS" value="0.01"/ -->
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<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="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
<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="900"/>
|
||||
<define name="PHI_DGAIN" value="200"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
<define name="THETA_PGAIN" value="900"/>
|
||||
<define name="THETA_DGAIN" value="200"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
<define name="PSI_PGAIN" value="900"/>
|
||||
<define name="PSI_DGAIN" value="200"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="75"/>
|
||||
<define name="THETA_DDGAIN" value="75"/>
|
||||
<define name="PSI_DDGAIN" value="75"/>
|
||||
</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="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
</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_NAV"/>
|
||||
</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="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,88 +0,0 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="1.5" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="8" name="Bebop2 Testing CyberZoo" security_height="0.4">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/ahrs.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/datalink/datalink.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint height="2.2" name="CLIMB" x="1.2" y="-0.6"/>
|
||||
<waypoint height="1.0" name="STDBY" x="-0.7" y="-0.8"/>
|
||||
<waypoint name="TD" x="0.8" y="-1.7"/>
|
||||
<waypoint lat="51.9906213" lon="4.3768628" name="_CZ1"/>
|
||||
<waypoint lat="51.9905874" lon="4.3767766" name="_CZ2"/>
|
||||
<waypoint lat="51.9906409" lon="4.3767226" name="_CZ3"/>
|
||||
<waypoint lat="51.990667" lon="4.376806" name="_CZ4"/>
|
||||
<waypoint lat="51.990624" lon="4.376845" name="_OZ1"/>
|
||||
<waypoint lat="51.990601" lon="4.376782" name="_OZ2"/>
|
||||
<waypoint lat="51.990638" lon="4.376748" name="_OZ3"/>
|
||||
<waypoint lat="51.990657" lon="4.376804" name="_OZ4"/>
|
||||
</waypoints>
|
||||
<sectors>
|
||||
<sector color="red" name="CyberZoo">
|
||||
<corner name="_CZ1"/>
|
||||
<corner name="_CZ2"/>
|
||||
<corner name="_CZ3"/>
|
||||
<corner name="_CZ4"/>
|
||||
</sector>
|
||||
<sector color="#FF9922" name="ObstacleZone">
|
||||
<corner name="_OZ1"/>
|
||||
<corner name="_OZ2"/>
|
||||
<corner name="_OZ3"/>
|
||||
<corner name="_OZ4"/>
|
||||
</sector>
|
||||
</sectors>
|
||||
<exceptions>
|
||||
<!-- <exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>-->
|
||||
<!--<exception cond="datalink_time > 22" deroute="Land here"/>-->
|
||||
<!-- <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>-->
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 2)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/> <!-- This sets the altitude ref -->
|
||||
<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="r" name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 0.9" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<!-- <call fun="NavSetWaypointHere(WP_STDBY)"/>-->
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="Land">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="Flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="Landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="Landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -1,68 +0,0 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="1.5" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="100" name="Outdoor basic flight plan" security_height="0.4">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/ahrs.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/datalink/datalink.h"
|
||||
</header>
|
||||
|
||||
<waypoints>
|
||||
<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint height="2.2" name="CLIMB" x="1.2" y="-0.6"/>
|
||||
<waypoint height="1.0" name="STDBY" x="-0.7" y="-0.8"/>
|
||||
<waypoint name="TD" x="0.8" y="-1.7"/>
|
||||
</waypoints>
|
||||
|
||||
<exceptions>
|
||||
<!-- <exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>-->
|
||||
<!--<exception cond="datalink_time > 22" deroute="Land here"/>-->
|
||||
<!-- <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>-->
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 2)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/> <!-- This sets the altitude ref -->
|
||||
<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="r" name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 0.9" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<!-- <call fun="NavSetWaypointHere(WP_STDBY)"/>-->
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="Land">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="Flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="Landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="Landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -1,101 +0,0 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<!-- Valkenburg -->
|
||||
<!-- <flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2"> -->
|
||||
<!-- Delft -->
|
||||
<flight_plan alt="40" ground_alt="0" lat0="51.979438" lon0="4.390148" max_dist_from_home="1000" name="Transitioning test" security_height="2">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/radio_control.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/actuators.h"
|
||||
#include "firmwares/rotorcraft/guidance/guidance_h.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
|
||||
<waypoint name="p1" x="53.9" y="9.6"/>
|
||||
<waypoint name="p2" x="-64.4" y="31.4"/>
|
||||
<waypoint name="p3" x="-50.7" y="66.2"/>
|
||||
<waypoint name="p4" x="60.0" y="41.3"/>
|
||||
</waypoints>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Start Engine">
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<call fun="NavResurrect()"/>
|
||||
</block>
|
||||
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Climb"/>
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<attitude pitch="0" roll="0" throttle="0.5" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Climb">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 20.0" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<stay climb="2" vmode="climb" wp="STDBY"/>
|
||||
</block>
|
||||
<block name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block name="stay_p1">
|
||||
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<stay wp="p1"/>
|
||||
</block>
|
||||
<block name="go_p2_p1">
|
||||
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="pylon_racing">
|
||||
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<go wp="p2"/>
|
||||
<go wp="p3"/>
|
||||
<go wp="p4"/>
|
||||
<go wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<call fun="NavSetWaypointHere(WP_STDBY)"/>
|
||||
</block>
|
||||
<block name="land">
|
||||
<!-- <set value="FALSE" var="force_forward_flight"/> -->
|
||||
<go wp="STDBY"/>
|
||||
</block>
|
||||
<block name="descent">
|
||||
<exception cond="8.0 > stateGetPositionEnu_f()->z" deroute="descent_slow"/>
|
||||
<stay climb="-1" vmode="climb" wp="STDBY"/>
|
||||
</block>
|
||||
<block name="descent_slow">
|
||||
<exception cond="4.0 > stateGetPositionEnu_f()->z" deroute="flare"/>
|
||||
<stay climb="-1" vmode="climb" wp="STDBY"/>
|
||||
</block>
|
||||
<block name="flare">
|
||||
<exception cond="0.5 > sonar_adc.distance" deroute="landed"/>
|
||||
<attitude pitch="0" roll="0" throttle="0.13" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -1,93 +0,0 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint name="CLIMB" x="0.0" y="5.0"/>
|
||||
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
|
||||
<waypoint name="p1" x="3.6" y="-13.9"/>
|
||||
<waypoint name="p2" x="27.5" y="-48.2"/>
|
||||
<waypoint name="p3" x="16.7" y="-19.6"/>
|
||||
<waypoint name="p4" x="13.7" y="-40.7"/>
|
||||
<waypoint name="CAM" x="-20" y="-50" height="2."/>
|
||||
<waypoint name="TD" x="5.6" y="-10.9"/>
|
||||
</waypoints>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/>
|
||||
<!--<call fun="NavSetAltitudeReferenceHere()"/>-->
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||
</block>
|
||||
<block name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||
</block>
|
||||
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
|
||||
</block>
|
||||
<block name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block name="stay_p1">
|
||||
<stay wp="p1"/>
|
||||
</block>
|
||||
<block name="go_p2">
|
||||
<call fun="nav_set_heading_deg(90)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="line_p1_p2">
|
||||
<go from="p1" hmode="route" wp="p2"/>
|
||||
<stay wp="p2" until="stage_time>10"/>
|
||||
<go from="p2" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route">
|
||||
<go from="p1" hmode="route" wp="p3"/>
|
||||
<go from="p3" hmode="route" wp="p4"/>
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="Oval">
|
||||
<oval p1="p1" p2="p2" radius="-1"/>
|
||||
</block>
|
||||
<block name="test yaw">
|
||||
<go wp="p1"/>
|
||||
<for var="i" from="1" to="16">
|
||||
<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
|
||||
</for>
|
||||
<deroute block="Standby"/>
|
||||
</block>
|
||||
<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
|
||||
<circle radius="nav_radius" wp="CAM"/>
|
||||
</block>
|
||||
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="land">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="landed">
|
||||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
Reference in New Issue
Block a user