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MicroJet IMU Flights

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This commit is contained in:
Christophe De Wagter
2011-02-25 09:30:14 +01:00
parent 7c3d4455a5
commit ebce59b748
1 changed files with 58 additions and 60 deletions
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conf/airframes/TU_Delft/MicrojetCDW.xml
+42 -44
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@@ -36,8 +36,8 @@
</command_laws> </command_laws>
<section name="AUTO1" prefix="AUTO1_"> <section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/> <define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.6"/> <define name="MAX_PITCH" value="0.7"/>
</section> </section>
@@ -61,12 +61,12 @@
<define name="GYRO_Q_SENS" value="2.234" integer="16"/> <define name="GYRO_Q_SENS" value="2.234" integer="16"/>
<define name="GYRO_R_SENS" value="2.234" integer="16"/> <define name="GYRO_R_SENS" value="2.234" integer="16"/>
<define name="GYRO_P_Q" value="0." /> <define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="(1.0f/75.0f)" /> <define name="GYRO_P_R" value="(1.0f/75.0f)"/>
<define name="GYRO_Q_P" value="0." /> <define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0." /> <define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0." /> <define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0." /> <define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/> <define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/> <define name="GYRO_Q_SIGN" value="-1"/>
@@ -100,19 +100,18 @@
<define name="BODY_TO_IMU_PSI" value="0"/> <define name="BODY_TO_IMU_PSI" value="0"/>
</section> </section>
<section name="INS" prefix="INS_" > <section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/> <define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/> <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
</section> </section>
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="14.5" unit="m/s"/>
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -120,59 +119,58 @@
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
<define name="GLIDE_AIRSPEED" value="10"/> <define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/> <define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/> <define name="GLIDE_PITCH" value="0." unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/> <define name="ALTITUDE_PGAIN" value="-0.01"/>
<!-- outer loop saturation --> <!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> <define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.4"/> <define name="COURSE_PGAIN" value="-1.39999997616"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/> <define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/> <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/> <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
<define name="PITCH_PGAIN" value="-6000."/> <define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="5."/> <define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1200."/> <define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_SLEW" value="0."/> <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_ATTITUDE_GAIN" value="-5000."/> <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
<define name="ROLL_RATE_GAIN" value="500."/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!--> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb --> <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb --> <define name="CLIMB_PITCH" value="0.6"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> <define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent --> <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude --> <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/> <define name="DESCENT_NAV_RATIO" value="1.0"/>
</section> </section>
@@ -191,17 +189,17 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="tiny_1.1"> <target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ --> <configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="240" /> <configure name="AHRS_PROPAGATE_FREQUENCY" value="240"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60" /> <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1" /> <configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2" /> <configure name="CPU_LED" value="2"/>
</target> </target>
<target name="sim" board="pc" /> <target name="sim" board="pc"/>
<define name="AGR_CLIMB" /> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM" /> <define name="LOITER_TRIM"/>
<define name="ALT_KALMAN" /> <define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -222,7 +220,7 @@
<firmware name="setup"> <firmware name="setup">
<target name="tunnel" board="tiny_1.1" /> <target name="tunnel" board="tiny_1.1"/>
</firmware> </firmware>
<modules> <modules>