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In phases add all OUAS flyable airframes (#2629)
* In phases add all OUAS flyable airframes * on requaest added separate ac file without conf in name Co-authored-by: Open UAS <noreply@openuas.org>
This commit is contained in:
OpenUAS
GitHub
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Crazyflie_2_1">
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<description>
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+ Airframe a Bitcraze crazyflie 2.1
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+ Model: Crazyfly v2.1 in original configuration
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+ Autopilot: Defailt FMU 2.1
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+ GNSS uBlox CAM M8Q
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+ MAG External HMC5983 on GNSS device
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+ ESC: Default ESC
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+ RCRX: Via datalink
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+ TELEMETRY: Via default chip
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+ CURRENT: None
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+ RANGER: Combined on Flowdeck
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+ MOTOR: Default brushed
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+ PROP: Default
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NOTES:
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Has Flowdeck with ranger and GPS and Magneto all on I2C
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</description>
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<firmware name="rotorcraft">
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<configure name="PERIODIC_FREQUENCY" value="1000"/>
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<configure name="RTOS_DEBUG" value="0"/>
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<target name="ap" board="crazyflie_2.1">
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<module name="geo_mag"/>
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<!-- <module name="gps" type="datalink"/>--> <!-- for motive system -->
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<module name="gps" type="ubx_i2c">
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<configure name="GPS_UBX_I2C_DEV" value="i2c1"/>
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</module>
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<module name="syslink_dl"/>
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<module name="opticflow" type="pmw3901">
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<configure name="OPTICFLOW_PMW3901_SPI_DEV" value="spi1"/>
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<define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901"/>
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<define name="PMW3901_SPI_CDIV" value="SPIDiv32"/>
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</module>
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</target>
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<target name="nps" board="pc">
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<module name="gps" type="ublox"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm"/>
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<module name="radio_control" type="datalink">
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="bmi088_i2c">
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<configure name="IMU_BMI088_I2C_DEV" value="i2c3"/>
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<define name="IMU_BMI088_GYRO_I2C_ADDR" value="BMI088_GYRO_ADDR_ALT"/>
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<define name="IMU_BMI088_Y_SIGN" value="-1"/>
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<define name="IMU_BMI088_Z_SIGN" value="-1"/>
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</module>
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<module name="stabilization" type="int_quat"/>
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<!--module name="stabilization" type="indi_simple"/-->
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<module name="ahrs" type="madgwick">
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="1000"/>
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<!--configure name="USE_MAGNETOMETER" value="FALSE"/-->
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<define name="AHRS_FC_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
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</module>
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<module name="ins" type="extended"/>
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<!--<module name="sys_mon"/>-->
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<module name="air_data"/>
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<module name="baro_bmp3">
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<configure name="BMP3_I2C_DEV" value="i2c3"/>
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<define name="AIR_DATA_BARO_ABS_ID" value="BARO_BMP3_SENDER_ID"/>
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<define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
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</module>
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<module name="mag" type="hmc58xx">
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<!-- <define name="MAG_TO_IMU_THETA" value="2" unit="deg"/>-->
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
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<!--<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE"/>--><!-- temporary for debugging external magneto and setup orientation sign and Body to Magneto angles-->
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/> <!-- When all calib and works to TRUE -->
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<define name="HMC58XX_CHAN_X" value="1"/>
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<define name="HMC58XX_CHAN_Y" value="0"/>
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<define name="HMC58XX_CHAN_Z" value="2"/>
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<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
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</module>
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<module name="cf_deck" type="multi_ranger"/>
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<module name="sonar" type="vl53l1x">
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<define name="SENSOR_SYNC_SEND_SONAR"/><!-- debug only TODO: disable if all validated -->
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</module>
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<define name="NO_GPS_NEEDED_FOR_NAV" value="FALSE"/> <!-- set to false later -->
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<module name="traffic_info"/>
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</firmware>
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<!-- Rotation between sensor frame and IMU frame of this airframe external magnetometer -->
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<!--If you build in your GPS where the MAGNETOMETER resides on the board
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not alligned with the Accelo/Gyro axis or the main IMU on flight controller then set these values-->
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<!--<section name="MAG_HMC" prefix="HMC58XX_">
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<define name="MAG_TO_IMU_PHI" value="0.0"/>
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<define name="MAG_TO_IMU_THETA" value="0.0"/>
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<define name="MAG_TO_IMU_PSI" value="0.0"/>
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</section>-->
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<servos driver="Pwm">
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<servo name="FRONT_LEFT" no="4" min="0" neutral="20" max="255"/>
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<servo name="FRONT_RIGHT" no="1" min="0" neutral="20" max="255"/>
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<servo name="BACK_RIGHT" no="2" min="0" neutral="20" max="255"/>
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<servo name="BACK_LEFT" no="3" min="0" neutral="20" max="255"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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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="FRONT_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!--TODO: calibrate-->
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<define name="ACCEL_X_NEUTRAL" value="-19"/>
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<define name="ACCEL_Y_NEUTRAL" value="-12"/>
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<define name="ACCEL_Z_NEUTRAL" value="58"/>
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<define name="ACCEL_X_SENS" value="1.83754430011" integer="16"/>
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<define name="ACCEL_Y_SENS" value="1.8445793586" integer="16"/>
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<define name="ACCEL_Z_SENS" value="1.84794644385" integer="16"/>
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<!-- TODO: The external HMC5883 mag calib on 2021xxxx -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
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<!-- If using the external magnetometer on GPS -->
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<!--<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="-1"/>
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<define name="MAG_Z_SIGN" value="-1"/>-->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- Use GPS heading instead of magneto for time being -->
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<define name="USE_GPS_HEADING" value="1"/>
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<!-- Values used if no GNSS fix, on 3D fix is updated by geo_mag module -->
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<!-- Better use the geo_mag module if you have a GNSS, else replace the values with your local magnetic field -->
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<!--North, East and Vertical Components do: Normalize[{19738.7, 899.5, 44845.6}] -->
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<!-- Local Magnetic field DE2020 -->
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<define name="H_X" value="0.402784"/>
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<define name="H_Y" value="0.018355"/>
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<define name="H_Z" value="0.915111"/>
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<define name="BIAS_UPDATE_HEADING_THRESHOLD" value="15.0"/> <!-- don't update gyro bias if heading deviation is above this threshold in degrees"-->
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0.0"/> <!-- unit m/s thus Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
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<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0.0"/> <!-- Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations -->
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<define name="MAG_UPDATE_ALL_AXES" value="FALSE"/><!-- Since ot much pitch and roll angle at all -->
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="1.5"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="REF_TAU" value="4"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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<!-- feedforward -->
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<define name="DDGAIN_P" value="300"/>
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<define name="DDGAIN_Q" value="300"/>
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<define name="DDGAIN_R" value="300"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="25." unit="deg"/>
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<define name="SP_MAX_THETA" value="25." unit="deg"/>
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<define name="SP_MAX_R" value="70." 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="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." 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="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." 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="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="300"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="300"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="400"/>
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<define name="PSI_DGAIN" value="200"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="300"/>
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<define name="THETA_DDGAIN" value="300"/>
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<define name="PSI_DDGAIN" value="300"/>
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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="0.0034724f"/>
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<define name="G1_Q" value="0.0052575f"/>
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<define name="G1_R" value="-0.0015942f"/>
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<define name="G2_R" value="-0.11281f"/>
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<define name="FILTER_ROLL_RATE" value="FALSE"/>
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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="3.57f"/>
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<define name="REF_ERR_Q" value="3.57f"/>
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<define name="REF_ERR_R" value="3.57f"/>
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<define name="REF_RATE_P" value="14.0"/>
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<define name="REF_RATE_Q" value="14.0"/>
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<define name="REF_RATE_R" value="14.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0f"/>
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<define name="FILT_CUTOFF_R" value="8.0f"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.03149f"/>
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<define name="ACT_DYN_Q" value="0.03149f"/>
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<define name="ACT_DYN_R" value="0.03149f"/>
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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="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
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<define name="NOMINAL_HOVER_THROTTLE" value="0.75"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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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="MAX_BAT_CAPACITY" value="240" unit="mAh"/><!-- Default battery-->
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<!-- <define name="MAX_BAT_CAPACITY" value="350" unit="mAh"/>--> <!-- 3rd party battery -->
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="300" unit="mA"/>
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<define name="MILLIAMP_AT_IDLE_THROTTLE" value="40" unit="mA"/>
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<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
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<define name="MAX_BAT_LEVEL" value="4.2" unit="V"/> <!-- 1S lipo -->
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<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
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<define name="MIN_BAT_LEVEL" value="2.9" unit="V"/>
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</section>
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<section name="MISC">
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<define name="ARRIVED_AT_WAYPOINT" value="0.2" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.1+HOME_RADIUS" unit="m"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="5." unit="m"/>
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<define name="CARROT" value="4." unit="s"/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="1.5"/>
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<define name="DESCEND_VSPEED" value="-1.0"/>
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</section>
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<section name="GCS">
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<define name="SPEECH_NAME" value="Crazy fly"/><!-- written differently on purpose for better spoken AC name -->
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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<define name="AC_ICON" value="quadrotor_xi"/>
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</section>
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</airframe>
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Goblin">
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<description>
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||||
+ Airframe with the PX4 Pixracer flightcontroller hardware
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+ Model: Durafly Goblin in original configuration
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+ Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15
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||||
+ Actuators: Regular metal gear servos
|
||||
+ GNSS Ublox M8N GNSS
|
||||
+ MAG External QMC Magnetometer on GNSS device
|
||||
+ ESC: Default
|
||||
+ RCRX: OpenRXSR Receiver
|
||||
+ AIRSPEED: No airspeed
|
||||
+ TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI
|
||||
+ CURRENT: A standard 3DR PowerBrick clone sensor on the default analog ports
|
||||
+ RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, or via CTS PWM pin
|
||||
+ MOTOR: Default
|
||||
+ PROP: Default
|
||||
|
||||
NOTES:
|
||||
+ Servo pins point to FRONT of airframe
|
||||
+ AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top
|
||||
+ Engine battery voltage and current values via separate sensor
|
||||
+ Servos and Sonar powered via BEC of ESC
|
||||
+ AP via additional BEC
|
||||
+ Telemetry via BEC on powerbrick
|
||||
+ Flashing the firmware can be done via original PX4 bootloader...
|
||||
Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
|
||||
+ A GNSS device with ANOTHER magneto on it is used, external...
|
||||
+ Separate Aileron servo outputs pin for more differential options
|
||||
|
||||
</description>
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="px4fmu_4.0">
|
||||
<configure name="CPU_LED" value="1"/>
|
||||
<configure name="PERIODIC_FREQUENCY" value="512"/>
|
||||
<!-- Not enabled ATM default should be good -->
|
||||
<!--<define name="MPU9250_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
|
||||
<define name="MPU9250_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G"/>
|
||||
<define name="MPU9250_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
|
||||
<define name="MPU9250_SMPLRT_DIV" value="3"/>-->
|
||||
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
<configure name="AHRS_CORRECT_FREQUENCY" value="500"/>
|
||||
<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/>
|
||||
<configure name="NAVIGATION_FREQUENCY" value="16"/>
|
||||
<configure name="CONTROL_FREQUENCY" value="120"/>
|
||||
<configure name="TELEMETRY_FREQUENCY" value="60"/>
|
||||
<configure name="MODULES_FREQUENCY" value="512"/>
|
||||
|
||||
<module name="imu" type="mpu9250_spi">
|
||||
<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
|
||||
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
|
||||
|
||||
<!-- To be able to set AP IMU orientaion when AP is mounted rotated, body to IMU should also work -->
|
||||
<define name="IMU_MPU9250_CHAN_X" value="0"/>
|
||||
<define name="IMU_MPU9250_CHAN_Y" value="2"/>
|
||||
<define name="IMU_MPU9250_CHAN_Z" value="1"/>
|
||||
<define name="IMU_MPU9250_X_SIGN" value="-1"/>
|
||||
<define name="IMU_MPU9250_Y_SIGN" value="+1"/>
|
||||
<define name="IMU_MPU9250_Z_SIGN" value="+1"/>
|
||||
</module>
|
||||
|
||||
<configure name="USE_ADC_2" value="TRUE"/>
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_2"/>
|
||||
|
||||
<module name="current_sensor">
|
||||
<configure name="USE_ADC_3" value="TRUE"/>
|
||||
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
||||
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.1"/>
|
||||
</module>
|
||||
|
||||
<module name="sonar_adc">
|
||||
<configure name="USE_ADC_4" value="TRUE"/>
|
||||
<configure name="ADC_SONAR" value="ADC_4"/>
|
||||
<define name="SENSOR_SYNC_SEND_SONAR"/>
|
||||
</module>
|
||||
|
||||
<module name="radio_control" type="sbus">
|
||||
<define name="RADIO_CONTROL_NB_CHANNEL" value="16"/>
|
||||
<define name="RADIO_GEAR" value="RADIO_AUX2"/>
|
||||
<define name="RADIO_FLAP" value="RADIO_AUX3"/>
|
||||
</module>
|
||||
|
||||
<!--<module name="telemetry" type="transparent_usb"/>-->
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_PORT" value="UART3"/><!-- Telem2 on pixracer -->
|
||||
<configure name="MODEM_BAUD" value="B57600"/>
|
||||
</module>
|
||||
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<define name="RADIO_GEAR" value="RADIO_AUX2"/>
|
||||
<define name="RADIO_FLAP" value="RADIO_AUX3"/>
|
||||
<!--<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>-->
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<!--<module name="imu" type="aspirin_v2.2"/>-->
|
||||
<!--<module name="ahrs" type="float_dcm"/>
|
||||
<module name="ins" type="alt_float"/>-->
|
||||
<module name="baro_sim"/>
|
||||
</target>
|
||||
|
||||
<define name="STRONG_WIND"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
|
||||
<define name="autopilot_motors_on" value="TRUE"/>
|
||||
<configure name="USE_BARO_BOARD" value="TRUE"/>
|
||||
<define name="USE_BARO_MEDIAN_FILTER"/>
|
||||
<define name="BAT_CHECKER_DELAY" value="80"/>
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
<define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/>
|
||||
<!--<define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>-->
|
||||
<!--<configure name="USE_MAGNETOMETER" value="TRUE"/>-->
|
||||
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B460800"/>
|
||||
</module>
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat">
|
||||
<configure name="AHRS_ALIGNER_LED" value="2"/>
|
||||
<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/>
|
||||
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="3.0"/>
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0"/>
|
||||
</module>
|
||||
|
||||
<module name="ins" type="alt_float">
|
||||
<define name="SONAR_COMPENSATE_ROTATION" value="TRUE"/>
|
||||
</module>
|
||||
|
||||
<module name="control" type="new"/>
|
||||
<module name="navigation"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
|
||||
<module name="baro_ms5611_spi">
|
||||
<configure name="MS5611_SPI_DEV" value="spi1"/>
|
||||
<configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
|
||||
</module>
|
||||
|
||||
<module name="geo_mag"/>
|
||||
|
||||
<module name="nav" type="line"/>
|
||||
<module name="nav" type="line_border"/>
|
||||
<module name="nav" type="line_osam"/>
|
||||
<module name="nav" type="survey_polygon">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/>
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_osam"/>
|
||||
<module name="nav" type="smooth"/>
|
||||
<module name="nav" type="vertical_raster"/>
|
||||
<module name="nav" type="flower"/>
|
||||
<!-- module name="nav" type="catapult"/> -->
|
||||
|
||||
<module name="mag" type="hmc58xx">
|
||||
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
|
||||
<define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE"/>
|
||||
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
|
||||
<define name="HMC58XX_CHAN_X" value="1"/>
|
||||
<define name="HMC58XX_CHAN_Y" value="0"/>
|
||||
<define name="HMC58XX_CHAN_Z" value="2"/>
|
||||
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
|
||||
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
|
||||
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
|
||||
</module>
|
||||
|
||||
<module name="photogrammetry_calculator">
|
||||
</module>
|
||||
<module name="traffic_info">
|
||||
</module>
|
||||
<module name="tcas">
|
||||
</module>
|
||||
|
||||
</firmware>
|
||||
|
||||
<servos>
|
||||
<servo name="S_THROTTLE" no="0" min="1100" neutral="1110" max="1900"/>
|
||||
<servo name="S_AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="S_ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="S_AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
|
||||
</servos>
|
||||
|
||||
<section name="ServoPositions">
|
||||
<!-- Just name a few, value can be used in e.g. flightplan -->
|
||||
<define name="LANDINGGEAR_EXTEND" value="-MAX_PPRZ"/>
|
||||
<define name="LANDINGGEAR_RETRACT" value="MAX_PPRZ"/>
|
||||
<define name="FLAP_FULL" value="-MAX_PPRZ"/>
|
||||
<define name="FLAP_HALF" value="-MAX_PPRZ/2"/>
|
||||
<define name="FLAP_NONE" value="0"/>
|
||||
<define name="BEACON_ROTATE" value="MAX_PPRZ"/>
|
||||
<define name="BEACON_FLASH" value="0"/>
|
||||
<define name="BEACON_OFF" value="-MAX_PPRZ"/>
|
||||
|
||||
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
|
||||
<define name="SERVO_HATCH_OPEN" value="0"/>
|
||||
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
|
||||
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
|
||||
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
|
||||
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
|
||||
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
|
||||
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
|
||||
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
|
||||
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
|
||||
</section>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="ASSIST_ROLL_WITH_RUDDER" value="0.0"/>
|
||||
<define name="AILERON_DIFF" value="0.3"/>
|
||||
<define name="BRAKE" value="0.3"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="S_THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="S_AILERON_LEFT" value="@ROLL+(0.1*SPOILERON_BRAKE_FULL)"/>
|
||||
<set servo="S_AILERON_RIGHT" value="@ROLL+(0.1*SPOILERON_BRAKE_FULL)"/>
|
||||
<set servo="S_ELEVATOR" value="@PITCH+(0.0*SPOILERON_BRAKE_FULL)"/>
|
||||
</command_laws>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="GEAR" value="@AUX1"/>
|
||||
<set command="FLAP" value="@AUX2"/>
|
||||
</rc_commands>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="5"/>
|
||||
<axis name="PITCH" failsafe_value="-6"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="GEAR" failsafe_value="0"/>
|
||||
<axis name="FLAP" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="60" unit="deg"/>
|
||||
<define name="MAX_PITCH" value="55" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="TRIM" prefix="COMMAND_">
|
||||
<define name="ROLL_TRIM" value="0.0"/>
|
||||
<define name="PITCH_TRIM" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
|
||||
<define name="DEFAULT_GEAR" value="1100"/>
|
||||
<define name="DEFAULT_ROLL" value="8.0" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="-4.0" unit="deg"/>
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.3+HOME_RADIUS" unit="m"/>
|
||||
<define name="DELAY_WITHOUT_GPS" value="4" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<!-- <define name="GYRO_P_SENS" value=" 1.01" integer="16"/> -->
|
||||
<!-- <define name="GYRO_Q_SENS" value=" 1.01" integer="16"/> -->
|
||||
<!-- <define name="GYRO_R_SENS" value=" 1.01" integer="16"/> -->
|
||||
<!-- <define name="GYRO_P_NEUTRAL" value="0"/> -->
|
||||
<!-- <define name="GYRO_Q_NEUTRAL" value="0"/> -->
|
||||
<!-- <define name="GYRO_R_NEUTRAL" value="0"/> -->
|
||||
|
||||
<!-- TODO: calibrate ASAP -->
|
||||
<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="2.44717990354" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.41787653186" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.4425224747" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="7"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="76"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="133"/>
|
||||
<define name="MAG_X_SENS" value="3.82579687604" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.6213651898" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.01635370187" integer="16"/>
|
||||
|
||||
<!-- TODO: Calibrate -->
|
||||
<define name="MAG_X_CURRENT_COEF" value="-0.677655963532"/>
|
||||
<define name="MAG_Y_CURRENT_COEF" value="-7.38678178538"/>
|
||||
<define name="MAG_Z_CURRENT_COEF" value="-5.02116042576"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.402784"/>
|
||||
<define name="H_Y" value="0.018355"/>
|
||||
<define name="H_Z" value="0.915111"/>
|
||||
</section>
|
||||
|
||||
<section name="INS">
|
||||
<define name="INS_BODY_TO_GPS_X" value="0.20" unit="m"/>
|
||||
<define name="INS_BODY_TO_GPS_Y" value="0.0" unit="m"/>
|
||||
<define name="INS_BODY_TO_GPS_Z" value="0.10" unit="m"/>
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
|
||||
<define name="USE_GPS_ALT" value="TRUE"/>
|
||||
<!--<define name="USE_GPS_ALT_SPEED" value="FALSE"/>-->
|
||||
<define name="VFF_R_GPS" value="0.01"/>
|
||||
<!--<define name="VFF_VZ_R_GPS" value="0.2"/>-->
|
||||
<define name="INS_SONAR_MAX_RANGE" value="6.0"/>
|
||||
<define name="INS_SONAR_MIN_RANGE" value="0.15"/>
|
||||
</section>
|
||||
|
||||
<section name="SONAR" prefix="SONAR_">
|
||||
<define name="MEDIAN_SIZE" value="15"/>
|
||||
<!--<define name="USE_ADC_FILTER" value="TRUE"/>-->
|
||||
<define name="SCALE" value="0.0025375" integer="16"/>
|
||||
<define name="OFFSET" value="90.0"/>
|
||||
<define name="MAX_RANGE" value="6.0" unit="m"/>
|
||||
<define name="MIN_RANGE" value="0.15" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="AGL" prefix="AGL_DIST_SONAR_">
|
||||
<define name="ID" value="ABI_BROADCAST"/>
|
||||
<define name="MAX_RANGE" value="6." unit="m"/>
|
||||
<define name="MIN_RANGE" value="0.20" unit="m"/>
|
||||
<!--<define name="FILTER" value="0.5"/>-->
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.8"/>
|
||||
<define name="COURSE_DGAIN" value="0.02"/>
|
||||
<define name="COURSE_TAU" value="0.7"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="0.99"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="40" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-40" unit="deg"/>
|
||||
<define name="PITCH_PGAIN" value="6000"/>
|
||||
<define name="PITCH_DGAIN" value="80"/>
|
||||
<define name="PITCH_IGAIN" value="2"/>
|
||||
<define name="PITCH_KFFA" value="20."/>
|
||||
<define name="PITCH_KFFD" value="4."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1550" unit="PPRZ_MAX"/>
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="400."/>
|
||||
<define name="ROLL_IGAIN" value="100."/>
|
||||
<define name="ROLL_KFFA" value="100"/>
|
||||
<define name="ROLL_KFFD" value="10"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.7" unit="volt"/>
|
||||
<define name="ALTITUDE_PGAIN" value="0.1"/>
|
||||
<define name="AUTO_CLIMB_LIMIT" value="1.5*V_CTL_ALTITUDE_MAX_CLIMB"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85" unit="%"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.10" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.001"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.01" unit="rad/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0." unit="rad"/>
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="0.7" unit="m/s/s"/>
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="12.0" unit="m/s"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.07" unit="%/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.06"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.002"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.12" unit="degree/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.001"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.02"/>
|
||||
<define name="AIRSPEED_MAX" value="18.0" unit="m/s"/>
|
||||
<define name="AIRSPEED_MIN" value="7.0" unit="m/s"/>
|
||||
<define name="PITCH_LOITER_TRIM" value="1.0" unit="deg"/>
|
||||
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="8.0" unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.7"/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.3"/>
|
||||
<define name="AIRSPEED_PGAIN" value="0.15"/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.18" unit="%/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.2"/>
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4.0" unit="m/s"/>
|
||||
<define name="MAX_ACCELERATION" value="3.0" unit="G"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.015"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.01"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.001"/>
|
||||
<!-- <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/> -->
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-30" unit="deg"/>
|
||||
<define name="GLIDE_RATIO" value="6."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MAX_BAT_CAPACITY" value="1300" unit="mAh"/>
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="300" unit="mA"/>
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000" unit="mA"/>
|
||||
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="14.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="13.2" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<!-- All for use with default motor and propeller -->
|
||||
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="54." unit="m/s"/>
|
||||
<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
|
||||
<define name="TRACKING_AIRSPEED" value="35." unit="m/s"/>
|
||||
<define name="GLIDE_AIRSPEED" value="13" unit="m/s"/>
|
||||
<define name="STALL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="RACE_AIRSPEED" value="50." unit="m/s"/>
|
||||
<define name="MIN_SPEED_FOR_TAKEOFF" value="12." unit="m/s"/>
|
||||
<define name="AIRSPEED_SETPOINT_SLEW" value="0.3" unit="m/s/s"/>
|
||||
<define name="TAKEOFF_PITCH_ANGLE" value="35" unit="deg"/>
|
||||
<define name="FLARE_PITCH_ANGLE" value="6" unit="deg"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0.0" unit="deg"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.3+HOME_RADIUS" unit="m"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120." unit="m"/>
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="LANDING_CIRCLE_RADIUS" value="100." unit="m"/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="100." unit="m"/>
|
||||
<define name="CARROT" value="6." unit="s"/>
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
|
||||
</section>
|
||||
|
||||
<section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_">
|
||||
<define name="FOCAL_LENGTH" value="2.5" unit="mm"/>
|
||||
<define name="SENSOR_WIDTH" value="2.304" unit="mm"/>
|
||||
<define name="SENSOR_HEIGHT" value="1.728" unit="mm"/>
|
||||
<define name="PIXELS_WIDTH" value="320"/>
|
||||
|
||||
<!-- Photogrammetry Parameters. Can also be defined in a flightplan instead
|
||||
<define name="OVERLAP" value="0.3" unit="%"/>
|
||||
<define name="SIDELAP" value="0.2" unit="%"/>
|
||||
<define name="RESOLUTION" value="50" unit="mm pixel projection"/>
|
||||
-->
|
||||
<!-- note: only for PHOTOGRAMMETRY-->
|
||||
<define name="HEIGHT_MIN" value="50." unit="m"/>
|
||||
<define name="HEIGHT_MAX" value="120." unit="m"/>
|
||||
<define name="RADIUS_MIN" value="70." unit="m"/>
|
||||
</section>
|
||||
|
||||
<!-- Can as well be your handlaunch, a.k.a. the human catapult ;) -->
|
||||
<section name="CATAPULT" prefix="NAV_CATAPULT_">
|
||||
<define name="MOTOR_DELAY" value="0." unit="s"/>
|
||||
<define name="HEADING_DELAY" value="3.0" unit="s"/>
|
||||
<define name="ACCELERATION_THRESHOLD" value="1.1"/>
|
||||
<define name="INITIAL_PITCH" value="20.0" unit="deg"/>
|
||||
<define name="INITIAL_THROTTLE" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GLS_APPROACH" prefix="APP_">
|
||||
<define name="DISTANCE_AF_SD" value="30" unit="m"/>
|
||||
<define name="ANGLE" value="2" unit="deg"/>
|
||||
<define name="INTERCEPT_AF_SD" value="80" unit="m"/>
|
||||
<!--<define name="INTERCEPT_RATE" value="0.624" unit="m/s/s"/>-->
|
||||
<define name="TARGET_SPEED" value="11.0" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Goblin"/>
|
||||
<define name="AC_ICON" value="fixedwing"/>
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="50"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="10"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-10"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_LAUNCHSPEED" value="10.0"/>
|
||||
<define name="WEIGHT" value="1."/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
|
||||
<define name="YAW_RESPONSE_FACTOR" value=".9"/>
|
||||
<define name="PITCH_RESPONSE_FACTOR" value="1."/>
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="20."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
|
||||
<define name="COMMANDS_NB" value="4"/>
|
||||
<define name="ACTUATOR_NAMES" value="throttle-cmd-norm, aileron-cmd-norm, elevator-cmd-norm, rudder-cmd-norm" type="string[]"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
<define name="BYPASS_AHRS" value="TRUE"/>
|
||||
<define name="BYPASS_INS" value="TRUE"/>
|
||||
<define name="JSBSIM_LAUNCHSPEED" value="10"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,495 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
<airframe name="Trashcan">
|
||||
<description>
|
||||
* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally.
|
||||
+ Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it
|
||||
+ Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||
+ Telemetry: Default WiFi Via ESP8266 see
|
||||
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin
|
||||
|
||||
NOTES:
|
||||
+ All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set or autocompensation (yet..)
|
||||
+ Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1
|
||||
+ RC control also possible via wifi telemetry module
|
||||
+ Vison: added a JeVois on UART1 TX/RX
|
||||
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out,
|
||||
+ Wifi telemetry module also allows RC
|
||||
|
||||
WIP:
|
||||
+ GPS: uBlox SAM M8Q with Magneto n Baro GNSS
|
||||
+ FPV RC only target to learn to recover your Drone in case of AP mishap
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="crazybee_f4_1.0">
|
||||
|
||||
<configure name="NO_LUFTBOOT" value="1"/>
|
||||
<configure name="USE_BARO_BOARD" value="FALSE"/>
|
||||
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- Starts in KILL, but can now switch to NAV -->
|
||||
<define name="AHRS_ALIGNER_SAMPLES_NB" value="1200"/> <!--When fidly plugging in a battery, aircraft kind of wobbly, now avoid messing up the aligner this way -->
|
||||
<!-- <define name="LOW_NOISE_THRESHOLD" value="30000"/>-->
|
||||
<!-- <define name="LOW_NOISE_TIME" value="10"/>-->
|
||||
|
||||
<!-- 2 kHz periodic -->
|
||||
<configure name="PERIODIC_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="HFF_PRESCALER" value="40"/><!-- FIXME: determine fully correct one-->
|
||||
<define name="AHRS_PROPAGATE_FREQUENCY" value="2000"/>
|
||||
<configure name="AHRS_CORRECT_FREQUENCY" value="2000"/>
|
||||
<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/> <!-- 75 or 160 max -->
|
||||
|
||||
<!-- set Gyro/Accel output rate to 2kHz at 8kHz internal sampling -->
|
||||
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/><!--This sets the internal sample rate to 8KHz. -->
|
||||
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_44HZ"/><!-- FIXME check value -->
|
||||
<define name="IMU_MPU_SMPLRT_DIV" value="3"/> <!-- for 1khz periodic IMU_MPU_SMPLRT_DIV=7 sr = gr(8) /1+IMU_MPU_SMPLRT_DIV (1+7/8=1khz-->
|
||||
|
||||
<configure name="NAVIGATION_FREQUENCY" value="16"/>
|
||||
<configure name="CONTROL_FREQUENCY" value="2000"/>
|
||||
<configure name="TELEMETRY_FREQUENCY" value="120"/>
|
||||
<configure name="MODULES_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/><!-- handy with the short flight time between tuning sets, not tested if it works yet, this board we have 16kb reserved -->
|
||||
<define name="BAT_CHECKER_DELAY" value="70"/> <!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="90"/> <!-- in 10/s seconds-->
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="cc2500_frsky">
|
||||
<define name="CC2500_RX_LED" value="LED_2"/>
|
||||
<define name="CC2500_BIND_BUTTON" value="BIND_BUTTON"/>
|
||||
<!--<define name="CC2500_AUTOBIND" value="TRUE"/>-->
|
||||
<define name="CC2500_TELEMETRY_SENSORS" value="SENSOR_NONE"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="480"/>
|
||||
</module>
|
||||
|
||||
<module name="dfu_command"/>
|
||||
<!-- <module name="telemetry" type="transparent_usb"/> -->
|
||||
<module name="telemetry" type="transparent_frsky_x"/>
|
||||
|
||||
<module name="imu" type="mpu6000">
|
||||
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
||||
|
||||
<!-- define name="ICM20608"/> --> <!-- Not used atm -->
|
||||
<!-- To be able (for now) to set AP IMU orientaion -->
|
||||
<define name="IMU_GYRO_P_SIGN" value="1"/>
|
||||
<define name="IMU_GYRO_Q_SIGN" value="-1"/>
|
||||
<define name="IMU_GYRO_R_SIGN" value="-1"/>
|
||||
|
||||
<define name="IMU_ACCEL_X_SIGN" value="1"/>
|
||||
<define name="IMU_ACCEL_Y_SIGN" value="-1"/>
|
||||
<define name="IMU_ACCEL_Z_SIGN" value="-1"/>
|
||||
</module>
|
||||
|
||||
<!-- not all are tested or tuned -->
|
||||
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet..)-->
|
||||
<!-- <module name="stabilization" type="rate_indi"/> -->
|
||||
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<!--<module name="stabilization" type="float_quat"/>-->
|
||||
<!-- <module name="stabilization" type="indi_simple" /> -->
|
||||
<!-- <module name="stabilization" type="indi" /> -->
|
||||
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<module name="osd_max7456">
|
||||
<configure name="MAX7456_SPI_DEV" value="SPI2"/>
|
||||
<configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1"/>
|
||||
<!--<define name="OSD_USE_EXTERNAL_SPRINTF" value="0" />-->
|
||||
<define name="USE_MATEK_TYPE_OSD_CHIP" value="FALSE" />
|
||||
<!--<define name="USE_PAL_FOR_OSD_VIDEO" value="TRUE" />-->
|
||||
<!--<define name="BARO_ALTITUDE_VAR" value="baro_alt" />-->
|
||||
</module>
|
||||
|
||||
<!-- <module name="filter_1euro_imu"> -->
|
||||
<!--<define name="IMU_F1E_ID" value="30"/>-->
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="F1E_IMU_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="F1E_IMU_ID"/>-->
|
||||
<!-- </module> -->
|
||||
|
||||
<!--module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
</module-->
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat">
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>-->
|
||||
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- True for Optitrack false for real magneto-->
|
||||
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> <!-- for dronerace -->
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/> <!-- TODO: determine best... Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
|
||||
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/> <!-- apply a low pass filter on rotational velocity"-->
|
||||
</module>
|
||||
|
||||
<!-- WIP for setting values e.g. P/D roll tune via RC Tranmitter, need a new setting file WIP -->
|
||||
<!--<module name="settings" type="rc"/>-->
|
||||
|
||||
<!-- only for... dronerace... -->
|
||||
<!--
|
||||
<module name="dronerace"/>
|
||||
-->
|
||||
|
||||
<!-- Not yet used ATM
|
||||
<module name="jevois_mavlink">
|
||||
<configure name="JEVOIS_UART" value="UART1"/>
|
||||
<configure name="JEVOIS_BAUD" value="B115200"/>
|
||||
</module>
|
||||
-->
|
||||
|
||||
<module name="gps" type="datalink"/> <!-- using optitrack and natnet2ivy -->
|
||||
|
||||
<!-- No I2C bus yet... still need to find some good spot for I2C pins... except straigt on MCU solder blobs -->
|
||||
<!--
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_PORT" value="I2C"/>
|
||||
</module>
|
||||
-->
|
||||
|
||||
<!--<module name="geo_mag"/>
|
||||
<<module name="air_data"/>-->
|
||||
|
||||
<!-- below temporary until measuerd and values set then disable it -->
|
||||
<!-- <module name="send_imu_mag_current"/> -->
|
||||
|
||||
<!--
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm">
|
||||
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
|
||||
</module>
|
||||
</target>
|
||||
-->
|
||||
<!-- <target name="FPV Racing" board="crazybee_f4_1.0">
|
||||
|
||||
WIP
|
||||
For FPV setup only
|
||||
No GPS
|
||||
No Baro
|
||||
No Magneto
|
||||
Highest loop rate possible for board
|
||||
Flip module
|
||||
Module for OSD
|
||||
Tuned for Race and ACRO
|
||||
Try INDI full
|
||||
|
||||
</target>
|
||||
-->
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FL" no="3" min="1000" neutral="1030" max="2000"/> <!-- maybe shorter on the cost of resolution... but low high differcnce MUST be bigger than 140-->
|
||||
<servo name="FR" no="1" min="1000" neutral="1030" max="2000"/>
|
||||
<servo name="BR" no="0" min="1000" neutral="1030" max="2000"/>
|
||||
<servo name="BL" no="2" min="1000" neutral="1030" max="2000"/>
|
||||
</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="REVERSE" value="TRUE"/>
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run -->
|
||||
<!-- 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-->
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="FILTER_1EURO" prefix="FILTER_1EURO_">
|
||||
<define name="ENABLED" value="FALSE"/> <!-- activate or not the filter by default -->
|
||||
<define name="GYRO_MINCUTOFF" value="10."/> <!-- minimum cutoff freq for gyro signal -->
|
||||
<define name="GYRO_BETA" value="0.1"/> <!-- adaptation coefficient for gyro signal -->
|
||||
<define name="ACCEL_MINCUTOFF" value="0.1"/> <!-- minimum cutoff freq for accel signal -->
|
||||
<define name="ACCEL_BETA" value="0.01"/> <!-- adaptation coefficient for accel signal -->
|
||||
<!--<define name="FREQ" value="512"set fixed frequency, if not defined but INS/AHRS_PROPAGATE_FREQUENCY is defined it is used, otherwise autofreq is used-->
|
||||
</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="90." unit="deg"/>
|
||||
|
||||
<!-- Tere is no MAG per default, but in case one adds one , make it correct -->
|
||||
<define name="MAG_X_SIGN" value="1"/>
|
||||
<define name="MAG_Y_SIGN" value="1"/>
|
||||
<define name="MAG_Z_SIGN" value="1"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<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="8.0" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="8.0" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="8.0" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_Q" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_R" value="2400" unit="deg/s"/>
|
||||
<define name="DEADBAND_P" value="10"/>
|
||||
<define name="DEADBAND_Q" value="10"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
<define name="REF_TAU" value="4"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="800"/>
|
||||
<define name="GAIN_Q" value="800"/>
|
||||
<define name="GAIN_R" value="700"/>
|
||||
|
||||
<define name="IGAIN_P" value="140"/>
|
||||
<define name="IGAIN_Q" value="140"/>
|
||||
<define name="IGAIN_R" value="90"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="DDGAIN_P" value="300"/>
|
||||
<define name="DDGAIN_Q" value="300"/>
|
||||
<define name="DDGAIN_R" value="300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<define name="SP_MAX_PHI" value="30." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="30." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="120." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="80"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="185"/>
|
||||
<define name="PHI_DGAIN" value="70"/>
|
||||
<define name="PHI_IGAIN" value="1"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="185"/>
|
||||
<define name="THETA_DGAIN" value="70"/>
|
||||
<define name="THETA_IGAIN" value="1"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="350"/>
|
||||
<define name="PSI_DGAIN" value="100"/>
|
||||
<define name="PSI_IGAIN" value="3"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<!-- when using stabilization type float_quat use ones below, not tuned yet! -->
|
||||
<!--
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<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"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(250)}"/>
|
||||
<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.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="{1000}"/>
|
||||
<define name="PHI_DGAIN" value="{1000}"/>
|
||||
<define name="PHI_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="{1000}"/>
|
||||
<define name="THETA_DGAIN" value="{1000}"/>
|
||||
<define name="THETA_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="{500}"/>
|
||||
<define name="PSI_DGAIN" value="{500}"/>
|
||||
<define name="PSI_IGAIN" value="{10}"/>
|
||||
|
||||
<define name="PHI_DGAIN_D" value="{100}"/>
|
||||
<define name="THETA_DGAIN_D" value="{100}"/>
|
||||
<define name="PSI_DGAIN_D" value="{100}"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="{300}"/>
|
||||
<define name="THETA_DDGAIN" value="{300}"/>
|
||||
<define name="PSI_DDGAIN" value="{300}"/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<!-- when using stabilization type indi use ones below, not tuned yet! -->
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.05"/>
|
||||
<define name="G1_Q" value="0.025"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.20"/>
|
||||
|
||||
<!-- For some airframes, e.g. Bebop2 we need to filter the roll rate due to the dampers -->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE"/>
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE"/>
|
||||
<define name="FILTER_YAW_RATE" value="FALSE"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="170.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="14.3"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_P" value="5.0"/>
|
||||
|
||||
<!-- first order actuator dynamics (indi_simple) -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="TRUE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0003"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability -->
|
||||
<define name="MAX_R" value="180" unit="deg/s"/>
|
||||
</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="0.33"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</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="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value=" 0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value=" 0.85490967783446"/>
|
||||
|
||||
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="60." unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="650"/>
|
||||
<define name="DGAIN" value="350"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0" unit="m/s"/>
|
||||
<define name="DESCEND_VSPEED" value="-0.7" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="0.2" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!-- ********************** AP ************************** -->
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/><!-- if GNSS use AP_MODE_NAV ...-->
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_RATE_DIRECT"/><!-- for now...-->
|
||||
<define name="MODE_AUTO2" value="AP_MODE_GUIDED"/> <!-- for dronerrace -->
|
||||
<!-- <define name="MODE_AUTO2" value="AP_MODE_NAV"/>--> <!-- If GNSS device is added for autonomous flight -->
|
||||
<!--<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>-->
|
||||
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<!-- If flying on a 2S1P 300mAh 40/80C LiPo -->
|
||||
<section name="BAT">
|
||||
<define name="MAX_BAT_CAPACITY" value="300" unit="mAh"/>
|
||||
<define name="BAT_CAPACITY" value="MAX_BAT_CAPACITY"/><!--temp fix until OSD module is fixed-->
|
||||
<!-- tested at V 7.6 the avg --> <!-- idle RPM then ?A half throttle ?A-->
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="10" unit="mA"/> <!-- TODO ??mA, with additional RC receiver and wifi and jevois cam ~??mA -->
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="240" unit="mA"/> <!-- TODO At 7.2 ?? A at 8.2v ??A rounded then to ?? to be at safe side-->
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/> <!-- TODO: test when AP board switches off -->
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.7" unit="V"/> <!-- 2s LiPo HV 2x4.35 = 8.7 -->
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="FL, FR, BR, BL" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<!-- <define name="JS_AXIS_MODE" value="4"/>-->
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Trashcan"/>
|
||||
<define name="AC_ICON" value="quadrotor_x"/>
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/> <!-- 2m low diff for e.g. optitrack, use e.g 10m for outside-->
|
||||
<define name="ALT_SHIFT_PLUS" value="1" unit="m"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-1" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,251 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
|
||||
<airframe name="xvert">
|
||||
<description>
|
||||
* E-flite X-VERT VTOL (https://www.openuas.org/airframes/)
|
||||
+ Autopilot: Default STM32F3 based
|
||||
+ Actuators: Default servos, 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
|
||||
+ GPS: Ublox M8N GNSS over I2C
|
||||
+ IMU: MPU6500 on mainboard and external HMC58XX on GNSS module
|
||||
+ TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
|
||||
+ CURRENT: A standard Volt and Current sensor on the analog ports
|
||||
+ RANGER: {none yet}
|
||||
+ RC: RC over Datalink
|
||||
|
||||
NOTES:
|
||||
+ Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
|
||||
+ Yeah.. and you Accelometer also... EKF2 will like you :)
|
||||
+ Flashing the firmware is done (For now..) via tiny SWD wires solderd on Main PCB, for Hardcore builder only ;)...
|
||||
WIP:
|
||||
+ Many thing to improve, e.g. RC and the Flashing method
|
||||
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="xvert_1.0"/>
|
||||
|
||||
|
||||
<define name="BAT_CHECKER_DELAY" value="80" />
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
|
||||
|
||||
<!-- To fix the 32k ram limit issue:-->
|
||||
<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
|
||||
<define name="PPRZ_TRIG_CONST" value="const"/>
|
||||
<define name="THD_WORKING_AREA_MAIN" value="802"/>
|
||||
<define name="UART_THREAD_STACK_SIZE" value="190"/>
|
||||
<define name="I2C_THREAD_STACK_SIZE" value="190"/>
|
||||
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
|
||||
<module name="telemetry" type="transparent" >
|
||||
<define name="MODEM_BAUD" value="B57600"/>
|
||||
</module>
|
||||
|
||||
<module name="guidance" type="hybrid"/>
|
||||
<module name="motor_mixing"/>
|
||||
<!--<module name="sys_mon"/>-->
|
||||
<!--<module name="gps" type="ubx_ucenter"/>-->
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="air_data"/>
|
||||
|
||||
<module name="imu" type="mpu9250_i2c">
|
||||
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
|
||||
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
|
||||
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
|
||||
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
|
||||
</module>
|
||||
|
||||
<module name="stabilization" type="indi_simple" />
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat" >
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
|
||||
<module name="ins" type="float_invariant">
|
||||
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
|
||||
<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
|
||||
</module>
|
||||
|
||||
<module name="actuators" type="xvert">
|
||||
<define name="SERVO_HZ" value="400" />
|
||||
</module>
|
||||
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="gps" type="ubx_i2c">
|
||||
<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
|
||||
</module>
|
||||
|
||||
<module name="mag" type="hmc58xx">
|
||||
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
|
||||
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
|
||||
<define name="HMC58XX_CHAN_X" value="1"/>
|
||||
<define name="HMC58XX_CHAN_Y" value="0"/>
|
||||
<define name="HMC58XX_CHAN_Z" value="2"/>
|
||||
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
|
||||
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
|
||||
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="H_X" value="0.5138"/>
|
||||
<define name="H_Y" value="0.00019"/>
|
||||
<define name="H_Z" value="0.8578"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="30"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="127"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="140"/>
|
||||
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="-52"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-4"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-7"/>
|
||||
<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Xvert">
|
||||
<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
|
||||
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
|
||||
<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="RM" value="motor_mixing.commands[0]"/>
|
||||
<set servo="LM" value="motor_mixing.commands[1]"/>
|
||||
|
||||
<!-- 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"/>
|
||||
|
||||
<!-- if using PID with gain scheduling -->
|
||||
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
|
||||
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
|
||||
|
||||
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
|
||||
<set servo="ELEVON_LEFT" value="$forward_left" />
|
||||
<set servo="ELEVON_RIGHT" value="$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="2"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="PITCH_COEF" value="{ 0, 0}"/>
|
||||
<define name="ROLL_COEF" value="{ -256, 256 }"/>
|
||||
<define name="YAW_COEF" value="{ 0, 0 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<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="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<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" />
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.01292" />
|
||||
<define name="G1_Q" value="0.014867" />
|
||||
<define name="G1_R" value="0.012055" />
|
||||
<define name="G2_R" value="0.0" />
|
||||
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE" />
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE" />
|
||||
<define name="FILTER_YAW_RATE" value="FALSE" />
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="100.0" />
|
||||
<define name="REF_ERR_Q" value="100.0" />
|
||||
<define name="REF_ERR_R" value="100.0" />
|
||||
<define name="REF_RATE_P" value="14.0" />
|
||||
<define name="REF_RATE_Q" value="14.0" />
|
||||
<define name="REF_RATE_R" value="14.0" />
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<define name="FILT_CUTOFF_R" value="3.2"/>
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.04" />
|
||||
<define name="ACT_DYN_Q" value="0.04" />
|
||||
<define name="ACT_DYN_R" value="0.04" />
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE" />
|
||||
<define name="ADAPTIVE_MU" value="0.0001" />
|
||||
<!-- max rates (conservative) -->
|
||||
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
|
||||
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
|
||||
<define name="FULL_AUTHORITY" value="TRUE"/>
|
||||
</section>
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="350" />
|
||||
<define name="HOVER_KD" value="85" />
|
||||
<define name="HOVER_KI" value="20" />
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="30" unit="deg" />
|
||||
<define name="REF_MAX_SPEED" value="3" unit="m/s" />
|
||||
<define name="PGAIN" value="50" />
|
||||
<define name="DGAIN" value="100" />
|
||||
<define name="IGAIN" value="30" />
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="4.5" />
|
||||
<define name="DESCEND_VSPEED" value="-1.0" />
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
|
||||
<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_RC_DIRECT" />
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<!-- 2S LiPo with 950mAh -->
|
||||
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,425 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
<airframe name="Tinyhawk_II">
|
||||
<description>
|
||||
* Airframe for the regular "EMAX Tinyhawk II" Quadrotor frame
|
||||
+ Autopilot: Default Matek f411RX v0 STM32F4 CrazeeBee Pro F4 compatible
|
||||
+ Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||
+ Telemetry: Default via FrSky to TX to USB out to GCS PC
|
||||
+ RC RX: CC2500 via SPI software FrSky compatible over air 2.4Ghz
|
||||
|
||||
NOTES:
|
||||
+ All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but needs other gain set
|
||||
+ For FPV racing control tests only
|
||||
+ No GPS
|
||||
+ No Baro
|
||||
+ No Magneto
|
||||
+ Test Highest loop rate possible for this board
|
||||
+ Flip module
|
||||
+ Module for OSD
|
||||
+ Tuned for Race and ACRO
|
||||
+ Try out INDI full with rpm feedback
|
||||
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="crazybee_f4_1.0">
|
||||
|
||||
<configure name="NO_LUFTBOOT" value="1"/>
|
||||
<configure name="USE_BARO_BOARD" value="FALSE"/>
|
||||
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- Starts in KILL, but can now switch to NAV -->
|
||||
<!--<define name="AHRS_ALIGNER_SAMPLES_NB" value="1200"/>--> <!--When fidly plugging in a battery, aircraft kind of wobbly, now avoid messing up the aligner this way -->
|
||||
<!-- <define name="LOW_NOISE_THRESHOLD" value="30000"/>-->
|
||||
<!-- <define name="LOW_NOISE_TIME" value="10"/>-->
|
||||
|
||||
<!-- 2 kHz periodic -->
|
||||
<configure name="PERIODIC_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="HFF_PRESCALER" value="40"/><!-- FIXME: determine fully correct one-->
|
||||
<define name="AHRS_PROPAGATE_FREQUENCY" value="2000"/>
|
||||
<configure name="AHRS_CORRECT_FREQUENCY" value="2000"/>
|
||||
<!--<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/>-->
|
||||
|
||||
<!-- set Gyro/Accel output rate to 2kHz at 8kHz internal sampling -->
|
||||
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/><!--This sets the internal sample rate to 8KHz. -->
|
||||
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_44HZ"/><!-- FIXME check value -->
|
||||
<define name="IMU_MPU_SMPLRT_DIV" value="3"/> <!--Note that for 1khz periodic IMU_MPU_SMPLRT_DIV=7 sr = gr(8) /1+IMU_MPU_SMPLRT_DIV (1+7/8=1khz-->
|
||||
|
||||
<configure name="NAVIGATION_FREQUENCY" value="16"/>
|
||||
<configure name="CONTROL_FREQUENCY" value="2000"/>
|
||||
<!--<configure name="TELEMETRY_FREQUENCY" value="120"/>-->
|
||||
<configure name="MODULES_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
<define name="BAT_CHECKER_DELAY" value="20"/> <!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="50"/> <!-- in 10/s seconds-->
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="cc2500_frsky">
|
||||
<define name="CC2500_RX_LED" value="LED_2"/>
|
||||
<define name="CC2500_BIND_BUTTON" value="BIND_BUTTON"/>
|
||||
<!--<define name="CC2500_AUTOBIND" value="TRUE"/>-->
|
||||
<define name="CC2500_TELEMETRY_SENSORS" value="SENSOR_NONE"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="480"/><!-- DShot also possible-->
|
||||
</module>
|
||||
|
||||
<!-- For flashing -->
|
||||
<module name="dfu_command"/>
|
||||
|
||||
<module name="gps" type="ublox"><!-- hes no GPS but it is a temp fixfor OSD module expecting GPS-->
|
||||
<configure name="GPS_BAUD" value="B460800"/>
|
||||
<configure name="GPS_PORT" value="UART2"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent_usb"/>
|
||||
<!--<module name="telemetry" type="transparent_frsky_x"/>-->
|
||||
|
||||
<module name="imu" type="mpu6000">
|
||||
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
||||
|
||||
<!-- define name="ICM20608"/> --><!-- Not used atm -->
|
||||
<!-- <define name="IMU_GYRO_P_CHAN" value="1"/>
|
||||
<define name="IMU_GYRO_Q_CHAN" value="0"/>
|
||||
<define name="IMU_GYRO_R_CHAN" value="2"/>
|
||||
|
||||
<define name="IMU_ACCEL_X_CHAN" value="1"/>
|
||||
<define name="IMU_ACCEL_Y_CHAN" value="0"/>
|
||||
<define name="IMU_ACCEL_Z_CHAN" value="2"/>-->
|
||||
|
||||
<!-- To be able (for now) to set AP IMU orientaion -->
|
||||
<define name="IMU_GYRO_P_SIGN" value="-1"/>
|
||||
<define name="IMU_GYRO_Q_SIGN" value="1"/>
|
||||
<define name="IMU_GYRO_R_SIGN" value="-1"/>
|
||||
|
||||
<define name="IMU_ACCEL_X_SIGN" value="-1"/>
|
||||
<define name="IMU_ACCEL_Y_SIGN" value="1"/>
|
||||
<define name="IMU_ACCEL_Z_SIGN" value="-1"/>
|
||||
</module>
|
||||
|
||||
<!-- BEWARE not all are tested nor tuned -->
|
||||
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet -->
|
||||
<!-- <module name="stabilization" type="rate_indi"/> -->
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<!-- <module name="stabilization" type="float_quat"/>-->
|
||||
<!-- <module name="stabilization" type="indi_simple" /> -->
|
||||
<!-- <module name="stabilization" type="indi" /> -->
|
||||
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<module name="osd_max7456">
|
||||
<configure name="MAX7456_SPI_DEV" value="SPI2"/>
|
||||
<configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1"/>
|
||||
</module>
|
||||
|
||||
<!-- <module name="filter_1euro_imu"> -->
|
||||
<!--<define name="IMU_F1E_ID" value="30"/>-->
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="F1E_IMU_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="F1E_IMU_ID"/>-->
|
||||
<!-- </module> -->
|
||||
|
||||
<!--module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
</module-->
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat">
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>-->
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/> <!-- TODO: determine best... Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
|
||||
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/> <!-- apply a low pass filter on rotational velocity"-->
|
||||
</module>
|
||||
|
||||
<!-- WIP for setting values e.g. P/D roll tune via RC Tranmitter, need a new setting file WIP -->
|
||||
<!--<module name="settings" type="rc"/>-->
|
||||
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm"><!-- OK -->
|
||||
<servo name="FL" no="3" min="1000" neutral="1130" max="2000"/> <!-- maybe shorter on the cost of resolution... but low high differcnce MUST be bigger than 140-->
|
||||
<servo name="FR" no="1" min="1000" neutral="1130" max="2000"/>
|
||||
<servo name="BR" no="0" min="1000" neutral="1130" max="2000"/>
|
||||
<servo name="BL" no="2" min="1000" neutral="1130" max="2000"/>
|
||||
</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="REVERSE" value="FALSE"/>
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run-->
|
||||
<!-- 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>
|
||||
-->
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="FILTER_1EURO" prefix="FILTER_1EURO_">
|
||||
<define name="ENABLED" value="FALSE"/> <!-- activate or not the filter by default -->
|
||||
<define name="GYRO_MINCUTOFF" value="10."/> <!-- minimum cutoff freq for gyro signal -->
|
||||
<define name="GYRO_BETA" value="0.1"/> <!-- adaptation coefficient for gyro signal -->
|
||||
<define name="ACCEL_MINCUTOFF" value="0.1"/> <!-- minimum cutoff freq for accel signal -->
|
||||
<define name="ACCEL_BETA" value="0.01"/> <!-- adaptation coefficient for accel signal -->
|
||||
<!--<define name="FREQ" value="512"set fixed frequency, if not defined but INS/AHRS_PROPAGATE_FREQUENCY is defined it is used, otherwise autofreq is used-->
|
||||
</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="0." unit="deg"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_Q" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_R" value="2400" unit="deg/s"/>
|
||||
<define name="DEADBAND_P" value="10"/>
|
||||
<define name="DEADBAND_Q" value="10"/>
|
||||
<define name="DEADBAND_R" value="20"/>
|
||||
<define name="REF_TAU" value="4"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="800"/>
|
||||
<define name="GAIN_Q" value="800"/>
|
||||
<define name="GAIN_R" value="700"/>
|
||||
|
||||
<define name="IGAIN_P" value="140"/>
|
||||
<define name="IGAIN_Q" value="140"/>
|
||||
<define name="IGAIN_R" value="90"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="DDGAIN_P" value="200"/>
|
||||
<define name="DDGAIN_Q" value="200"/>
|
||||
<define name="DDGAIN_R" value="200"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<define name="SP_MAX_PHI" value="25." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="25." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="120." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="2"/>
|
||||
<define name="DEADBAND_E" value="2"/>
|
||||
<define name="DEADBAND_R" value="50"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="185"/>
|
||||
<define name="PHI_DGAIN" value="70"/>
|
||||
<define name="PHI_IGAIN" value="1"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="185"/>
|
||||
<define name="THETA_DGAIN" value="70"/>
|
||||
<define name="THETA_IGAIN" value="1"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="450"/>
|
||||
<define name="PSI_DGAIN" value="100"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- when using stabilization type float_quat use ones below, not tuned yet! -->
|
||||
<!--
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<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"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(250)}"/>
|
||||
<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.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="{1000}"/>
|
||||
<define name="PHI_DGAIN" value="{1000}"/>
|
||||
<define name="PHI_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="{1000}"/>
|
||||
<define name="THETA_DGAIN" value="{1000}"/>
|
||||
<define name="THETA_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="{500}"/>
|
||||
<define name="PSI_DGAIN" value="{500}"/>
|
||||
<define name="PSI_IGAIN" value="{10}"/>
|
||||
|
||||
<define name="PHI_DGAIN_D" value="{100}"/>
|
||||
<define name="THETA_DGAIN_D" value="{100}"/>
|
||||
<define name="PSI_DGAIN_D" value="{100}"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="{300}"/>
|
||||
<define name="THETA_DDGAIN" value="{300}"/>
|
||||
<define name="PSI_DDGAIN" value="{300}"/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<!-- when using stabilization type indi use ones below, not tuned yet! -->
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.05"/>
|
||||
<define name="G1_Q" value="0.025"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.20"/>
|
||||
|
||||
<!-- For some airframes, e.g. Bebop2 we need to filter the roll rate due to the dampers -->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE"/>
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE"/>
|
||||
<define name="FILTER_YAW_RATE" value="FALSE"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="170.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="14.3"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_P" value="5.0"/>
|
||||
|
||||
<!-- first order actuator dynamics (indi_simple) -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="TRUE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0003"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability -->
|
||||
<define name="MAX_R" value="120" unit="deg/s"/>
|
||||
</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="0.33"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</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="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value=" 0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value=" 0.85490967783446"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="60." unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="650"/>
|
||||
<define name="DGAIN" value="350"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0" unit="m/s"/>
|
||||
<define name="DESCEND_VSPEED" value="-0.7" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<!-- ********************** AP ************************** -->
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_RATE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
|
||||
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
|
||||
<!--<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>-->
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<!-- If flying on a 2S1P 300mAh 50/100C HV LiPo -->
|
||||
<section name="BAT">
|
||||
<define name="MAX_BAT_CAPACITY" value="300" unit="mAh"/>
|
||||
<!-- tested at V 7.6 the avg --> <!-- idle RPM then ?A half throttle ?A-->
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="10" unit="mA"/> <!-- TODO ??mA, with additional RC receiver and wifi and jevois cam ~??mA -->
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="240" unit="mA"/> <!-- TODO At 7.2 ?? A at 8.2v ??A rounded then to ?? to be at safe side-->
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/> <!-- TODO: test when AP board switches off -->
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.7" unit="V"/> <!-- 2s LiPo HV 2x4.35 = 8.7 -->
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Tinyhawk 2"/>
|
||||
<define name="AC_ICON" value="quadrotor_x"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
+14
-16
@@ -14,26 +14,25 @@
|
||||
<airframe name="TaxiIII">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<define name="STRONG_WIND"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="TUNE_AGRESSIVE_CLIMB"/>
|
||||
<define name="USE_I2C0"/>
|
||||
|
||||
<define name="PITCH_TRIM"/>
|
||||
|
||||
<define name="USE_I2C0"/>
|
||||
|
||||
<module name="radio_control" type="ppm">
|
||||
<!-- for debugging PPM value the one below -->
|
||||
<!-- <define name="TELEMETRY_MODE_FBW" value="1"/> -->
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_BAUD" value="B57600"/>
|
||||
<configure name="MODEM_PORT" value="UART1"/>
|
||||
</module>
|
||||
|
||||
@@ -49,12 +48,12 @@
|
||||
<modules>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="infrared_adc"/>
|
||||
<module name="ahrs_infrared"/>
|
||||
<module name="ahrs_infrared"/>
|
||||
|
||||
<module name="digital_cam">
|
||||
<!-- <define name="DC_SHUTTER_GPIO" value="CAM_SWITCH_GPIO"/>--><!-- Not compiling ATM -->
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO22"/>
|
||||
</module>
|
||||
</module>
|
||||
<!--
|
||||
<module name="sys_mon"/>
|
||||
-->
|
||||
@@ -85,7 +84,7 @@
|
||||
<module name="nav" type="flower"/>
|
||||
<module name="nav" type="bungee_takeoff"/>
|
||||
<module name="nav" type="catapult"/>
|
||||
|
||||
|
||||
</modules>
|
||||
|
||||
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
|
||||
@@ -99,14 +98,14 @@
|
||||
|
||||
<!-- commands section -->
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<!-- for tuning via RC these ones below -->
|
||||
<!--
|
||||
<axis name="GAIN1" failsafe_value="0"/>
|
||||
<axis name="CALIB" failsafe_value="0"/>
|
||||
<axis name="GAIN1" failsafe_value="0"/>
|
||||
<axis name="CALIB" failsafe_value="0"/>
|
||||
-->
|
||||
</commands>
|
||||
|
||||
@@ -382,7 +381,7 @@ If not set before when you would enter home mode you had to flip a bit via the G
|
||||
<define name="DEVICE_TYPE" value="PPRZ"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="DIGITAL_CAMERA" prefix="DC_">
|
||||
<define name="AUTOSHOOT_PERIOD" value="3" unit="sec"/>
|
||||
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="70" unit="meter"/>
|
||||
@@ -394,4 +393,3 @@ If not set before when you would enter home mode you had to flip a bit via the G
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -1,239 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="leapfrogeye">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="bebop"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="udp"/>
|
||||
</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="furuno"/>
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
<module name="guidance" type="indi"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<!-- only for calibration once-->
|
||||
<module name="send_imu_mag_current"/>
|
||||
<!--module name="logger_file">
|
||||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
|
||||
</module-->
|
||||
<module name="bebop_cam"/>
|
||||
|
||||
<module name="cv_blob_locator">
|
||||
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
|
||||
</module>
|
||||
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
||||
</module>
|
||||
<module name="nav" type="survey_rectangle_rotorcraft">
|
||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||
</module>
|
||||
<module name="nav" type="survey_poly_rotorcraft">
|
||||
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
|
||||
</module>
|
||||
<module name="video_capture">
|
||||
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
|
||||
</module>
|
||||
<module name="digital_cam_video">
|
||||
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
|
||||
</module>
|
||||
<module name="video_exif"/>
|
||||
</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_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_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 spesific for this airframe -->
|
||||
<define name="MAG_X_NEUTRAL" value="-54"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-1"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="134"/>
|
||||
<define name="MAG_X_SENS" value="7.55622140532" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="7.72221931874" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="7.84828034818" integer="16"/>
|
||||
|
||||
<!-- Magneto current compensation factor 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 -->
|
||||
<!-- NL -->
|
||||
<define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/>
|
||||
<!-- DE -->
|
||||
</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="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<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.)"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.0639"/>
|
||||
<define name="G1_Q" value="0.0361"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.1450"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="600.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="28.0"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="8.0"/>
|
||||
<define name="FILT_CUTOFF_R" value="8.0"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.1"/>
|
||||
<define name="ACT_DYN_Q" value="0.1"/>
|
||||
<define name="ACT_DYN_R" value="0.1"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</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="20"/>
|
||||
<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"/>
|
||||
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="2.5"/>
|
||||
<define name="DESCEND_VSPEED" value="-1.0"/>
|
||||
</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"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -1,260 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!--
|
||||
Lisa + Aspirin v2 using SPI only
|
||||
-->
|
||||
|
||||
<airframe name="LisaAspirin2">
|
||||
<!-- ************************* FIRMWARE ************************* -->
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="lisa_m_1.0">
|
||||
<define name="LISA_M_LONGITUDINAL_X"/>
|
||||
<configure name="PERIODIC_FREQUENCY" value="120"/>
|
||||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
|
||||
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
|
||||
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
||||
</target>
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="nps" board="pc">
|
||||
<!-- Note NPS needs the ppm type radio_control module -->
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="STRONG_WIND"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
|
||||
<!-- Sensors -->
|
||||
<module name="imu" type="aspirin_v2.1"/>
|
||||
<!--
|
||||
<module name="ahrs" type="float_dcm">
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
|
||||
</module>
|
||||
-->
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
|
||||
</module>
|
||||
<module name="ins" type="alt_float"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B57600"/>
|
||||
<configure name="MODEM_PORT" value="UART2"/>
|
||||
</module>
|
||||
<!-- Actuators -->
|
||||
<module name="control" type="energy"/>
|
||||
<!-- Sensors -->
|
||||
<module name="navigation"/>
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_PORT" value="UART1"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules>
|
||||
<module name="geo_mag"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="airspeed_ets">
|
||||
<define name="AIRSPEED_ETS_SYNC_SEND"/>
|
||||
<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
|
||||
</module>
|
||||
<module name="adc_generic">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||
</module>
|
||||
<module name="light">
|
||||
<define name="LIGHT_LED_STROBE" value="2"/>
|
||||
<define name="LIGHT_LED_NAV" value="3"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</module>
|
||||
<module name="digital_cam">
|
||||
<define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
|
||||
</module>
|
||||
<!-- module name="nav" type="catapult"/-->
|
||||
<module name="nav" type="line"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
|
||||
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
|
||||
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.8"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="AILEVON_LEFT" value="@ROLL"/>
|
||||
<set servo="AILEVON_RIGHT" value="-@ROLL"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="TRIM" prefix="COMMAND_">
|
||||
<define name="ROLL_TRIM" value="0"/>
|
||||
<define name="PITCH_TRIM" value="788."/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
|
||||
<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
|
||||
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* SENSORS ************************* -->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-179"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-21"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="79"/>
|
||||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Local magnetic field, on 3D fix is update by geo_mag module -->
|
||||
<define name="H_X" value="0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value="0.85490967783446"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5.9" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* GAINS ************************* -->
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.89"/>
|
||||
<define name="COURSE_DGAIN" value="0.27"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
|
||||
<define name="PITCH_PGAIN" value="12000"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
|
||||
<define name="ROLL_SLEW" value="1."/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
|
||||
<define name="ROLL_RATE_GAIN" value="500."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- power -->
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.183"/>
|
||||
<define name="AIRSPEED_PGAIN" value="0.217"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="10."/>
|
||||
<define name="MAX_ACCELERATION" value="2."/>
|
||||
<!-- energy -->
|
||||
<define name="ENERGY_TOT_PGAIN" value="0.205"/>
|
||||
<define name="ENERGY_TOT_IGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_PGAIN" value="0.403"/>
|
||||
<define name="ENERGY_DIFF_IGAIN" value="0.259"/>
|
||||
<define name="GLIDE_RATIO" value="7."/>
|
||||
<!-- auto throttle -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
<!-- extra's -->
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
|
||||
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
|
||||
</section>
|
||||
|
||||
<!-- ************************* MISC ************************* -->
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
|
||||
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="STALL_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="CATAPULT" prefix="NAV_CATAPULT_">
|
||||
<define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
|
||||
<define name="HEADING_DELAY" value="3.0" unit="seconds"/>
|
||||
<define name="ACCELERATION_THRESHOLD" value="1.75"/>
|
||||
<define name="INITIAL_PITCH" value="15.0" unit="deg"/>
|
||||
<define name="INITIAL_THROTTLE" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GLS_APPROACH" prefix="APP_">
|
||||
<define name="ANGLE" value="5" unit="deg"/>
|
||||
<define name="INTERCEPT_AF_SD" value="10" unit="m"/>
|
||||
<define name="TARGET_SPEED" value="13" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="DIGITAL_CAMERA" prefix="DC_">
|
||||
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
|
||||
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
|
||||
<define name="COMMANDS_NB" value="4"/>
|
||||
<define name="ACTUATOR_NAMES" value="throttle-cmd-norm, aileron-cmd-norm, elevator-cmd-norm, rudder-cmd-norm" type="string[]"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
<define name="BYPASS_AHRS" value="TRUE"/>
|
||||
<define name="BYPASS_INS" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,240 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
<airframe name="itsybitsy">
|
||||
<description>
|
||||
Base is a LadyBird quadrotor frame but now 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.
|
||||
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_s_1.0">
|
||||
<module name="radio_control" type="superbitrf_rc"> <!-- type="ppm" -->
|
||||
<!-- 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"/--> <!-- MX22 module no1 -->
|
||||
<!--define name="RADIO_TRANSMITTER_CHAN" value="9"/-->
|
||||
<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/--><!--DSM_DSM2_2-->
|
||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
</module>
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
|
||||
<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="superbitrf"/>
|
||||
<!-- 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="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
<module name="ins"/>
|
||||
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
<!-- below temporary until tsted then remove it-->
|
||||
<module name="send_imu_mag_current"/>
|
||||
|
||||
</firmware>
|
||||
|
||||
<!-- The no= value is the phisycal connector on the autopilot board -->
|
||||
<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_get_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 NL -->
|
||||
<define name="MAG_X_NEUTRAL" value="360"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-602"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-313"/>
|
||||
<define name="MAG_X_SENS" value="3.87956285611" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.00524696232" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.09474740848" 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"/>
|
||||
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="3.2" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="4.2" 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="500"/>
|
||||
<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_">
|
||||
</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"/>
|
||||
</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>
|
||||
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,490 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
<airframe name="Trashcan">
|
||||
<description>
|
||||
* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally.
|
||||
+ Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it
|
||||
+ Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||
+ Telemetry: Default WiFi Via ESP8266 see
|
||||
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin
|
||||
|
||||
NOTES:
|
||||
+ All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set (yet..)
|
||||
+ Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1
|
||||
+ RC control also possible via wifi telemetry module
|
||||
+ Vison: added a JeVois on UART1 TX/RX
|
||||
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out,
|
||||
+ Wifi telemetry module also allows RC
|
||||
|
||||
WIP:
|
||||
+ GPS: uBlox SAM M8Q with Magneto n Baro GNSS
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="crazybee_f4_1.0">
|
||||
|
||||
<configure name="NO_LUFTBOOT" value="1"/>
|
||||
<configure name="USE_BARO_BOARD" value="FALSE"/>
|
||||
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- Starts in KILL, but can now switch to NAV -->
|
||||
<define name="AHRS_ALIGNER_SAMPLES_NB" value="1200"/> <!--When fidly plugging in a battery, aircraft kind of wobbly, now avoid messing up the aligner this way -->
|
||||
<!-- <define name="LOW_NOISE_THRESHOLD" value="30000"/>-->
|
||||
<!-- <define name="LOW_NOISE_TIME" value="10"/>-->
|
||||
|
||||
<!-- 2 kHz periodic -->
|
||||
<configure name="PERIODIC_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="HFF_PRESCALER" value="40"/><!-- FIXME: determine fully correct one-->
|
||||
<define name="AHRS_PROPAGATE_FREQUENCY" value="2000"/>
|
||||
<configure name="AHRS_CORRECT_FREQUENCY" value="2000"/>
|
||||
<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/> <!-- 75 or 160 max -->
|
||||
|
||||
<!-- set Gyro/Accel output rate to 2kHz at 8kHz internal sampling -->
|
||||
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/><!--This sets the internal sample rate to 8KHz. -->
|
||||
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_44HZ"/><!-- FIXME check value -->
|
||||
<define name="IMU_MPU_SMPLRT_DIV" value="3"/> <!-- for 1khz periodic IMU_MPU_SMPLRT_DIV=7 sr = gr(8) /1+IMU_MPU_SMPLRT_DIV (1+7/8=1khz-->
|
||||
|
||||
<configure name="NAVIGATION_FREQUENCY" value="16"/>
|
||||
<configure name="CONTROL_FREQUENCY" value="2000"/>
|
||||
<configure name="TELEMETRY_FREQUENCY" value="120"/>
|
||||
<configure name="MODULES_FREQUENCY" value="2048"/>
|
||||
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/><!-- handy with the short flight time between tuning sets, not tested if it works yet, this board we have 16kb reserved -->
|
||||
<define name="BAT_CHECKER_DELAY" value="70"/> <!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="90"/> <!-- in 10/s seconds-->
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="cc2500_frsky">
|
||||
<define name="CC2500_RX_LED" value="LED_2"/>
|
||||
<define name="CC2500_BIND_BUTTON" value="BIND_BUTTON"/>
|
||||
<define name="CC2500_TELEMETRY_SENSORS" value="SENSOR_NONE"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="480"/>
|
||||
</module>
|
||||
|
||||
<module name="dfu_command"/>
|
||||
<!-- <module name="telemetry" type="transparent_usb"/> -->
|
||||
<module name="telemetry" type="transparent_frsky_x"/>
|
||||
|
||||
<module name="imu" type="mpu6000">
|
||||
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
|
||||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
||||
|
||||
<!-- define name="ICM20608"/> --> <!-- Not used atm -->
|
||||
<!-- To be able (for now) to set AP IMU orientaion -->
|
||||
<define name="IMU_GYRO_P_SIGN" value="1"/>
|
||||
<define name="IMU_GYRO_Q_SIGN" value="-1"/>
|
||||
<define name="IMU_GYRO_R_SIGN" value="-1"/>
|
||||
|
||||
<define name="IMU_ACCEL_X_SIGN" value="1"/>
|
||||
<define name="IMU_ACCEL_Y_SIGN" value="-1"/>
|
||||
<define name="IMU_ACCEL_Z_SIGN" value="-1"/>
|
||||
</module>
|
||||
|
||||
<!-- not all are tested or tuned -->
|
||||
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet..)
|
||||
<!-- <module name="stabilization" type="rate_indi"/> -->
|
||||
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<!--<module name="stabilization" type="float_quat"/>-->
|
||||
<!-- <module name="stabilization" type="indi_simple" /> -->
|
||||
<!-- <module name="stabilization" type="indi" /> -->
|
||||
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<!-- Not yet tested -->
|
||||
<!--<module name="osd_max7456">
|
||||
<configure name="MAX7456_SPI_DEV" value="SPI2"/>
|
||||
<configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1"/>
|
||||
</module>-->
|
||||
|
||||
<!-- <module name="filter_1euro_imu"> -->
|
||||
<!--<define name="IMU_F1E_ID" value="30"/>-->
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="F1E_IMU_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="F1E_IMU_ID"/>-->
|
||||
<!-- </module> -->
|
||||
|
||||
<!--module name="guidance" type="indi">
|
||||
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
|
||||
</module-->
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat">
|
||||
<!--<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
|
||||
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>-->
|
||||
|
||||
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- True for Optitrack false for real magneto-->
|
||||
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> <!-- for dronerace -->
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/> <!-- TODO: determine best... Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
|
||||
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/> <!-- apply a low pass filter on rotational velocity"-->
|
||||
</module>
|
||||
|
||||
<!-- WIP for setting values e.g. P/D roll tune via RC Tranmitter, need a new setting file WIP -->
|
||||
<!--<module name="settings" type="rc"/>-->
|
||||
|
||||
<!-- only for... dronerace... -->
|
||||
<!--
|
||||
<module name="dronerace"/>
|
||||
-->
|
||||
|
||||
<!-- Not yet used ATM
|
||||
<module name="jevois_mavlink">
|
||||
<configure name="JEVOIS_UART" value="UART1"/>
|
||||
<configure name="JEVOIS_BAUD" value="B115200"/>
|
||||
</module>
|
||||
-->
|
||||
|
||||
<module name="gps" type="datalink"/> <!-- using optitrack and natnet2ivy -->
|
||||
|
||||
<!-- No I2C bus yet... still need to find some good spot for I2C pins... except straigt on MCU solder blobs -->
|
||||
<!--
|
||||
<module name="gps" type="ublox">
|
||||
<configure name="GPS_PORT" value="I2C"/>
|
||||
</module>
|
||||
-->
|
||||
|
||||
<!--<module name="geo_mag"/>
|
||||
<<module name="air_data"/>-->
|
||||
|
||||
<!-- below temporary until tested then disable it -->
|
||||
<!-- <module name="send_imu_mag_current"/> -->
|
||||
|
||||
<!--
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
<module name="radio_control" type="ppm">
|
||||
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
|
||||
</module>
|
||||
</target>
|
||||
-->
|
||||
<!-- <target name="FPV Racing" board="crazybee_f4_1.0">
|
||||
|
||||
WIP
|
||||
For FPV setup only
|
||||
No GPS
|
||||
No Baro
|
||||
No Magneto
|
||||
Highest loop rate possible for board
|
||||
Flip module
|
||||
Module for OSD
|
||||
Tuned for Race and ACRO
|
||||
Try INDI full
|
||||
|
||||
</target>
|
||||
-->
|
||||
</firmware>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FL" no="3" min="1000" neutral="1030" max="2000"/> <!-- maybe shorter on the cost of resolution... but low high differcnce MUST be bigger than 140-->
|
||||
<servo name="FR" no="1" min="1000" neutral="1030" max="2000"/>
|
||||
<servo name="BR" no="0" min="1000" neutral="1030" max="2000"/>
|
||||
<servo name="BL" no="2" min="1000" neutral="1030" max="2000"/>
|
||||
</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="REVERSE" value="TRUE"/>
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run
|
||||
<!-- 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-->
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="FILTER_1EURO" prefix="FILTER_1EURO_">
|
||||
<define name="ENABLED" value="FALSE"/> <!-- activate or not the filter by default -->
|
||||
<define name="GYRO_MINCUTOFF" value="10."/> <!-- minimum cutoff freq for gyro signal -->
|
||||
<define name="GYRO_BETA" value="0.1"/> <!-- adaptation coefficient for gyro signal -->
|
||||
<define name="ACCEL_MINCUTOFF" value="0.1"/> <!-- minimum cutoff freq for accel signal -->
|
||||
<define name="ACCEL_BETA" value="0.01"/> <!-- adaptation coefficient for accel signal -->
|
||||
<!--<define name="FREQ" value="512"set fixed frequency, if not defined but INS/AHRS_PROPAGATE_FREQUENCY is defined it is used, otherwise autofreq is used-->
|
||||
</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="90." unit="deg"/>
|
||||
|
||||
<!-- Tere is no MAG per default, but in case one adds one , make it correct -->
|
||||
<define name="MAG_X_SIGN" value="1"/>
|
||||
<define name="MAG_Y_SIGN" value="1"/>
|
||||
<define name="MAG_Z_SIGN" value="1"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<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="8.0" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="8.0" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="8.0" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_P" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_Q" value="2400." unit="deg/s"/>
|
||||
<define name="SP_MAX_R" value="2400" unit="deg/s"/>
|
||||
<define name="DEADBAND_P" value="10"/>
|
||||
<define name="DEADBAND_Q" value="10"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
<define name="REF_TAU" value="4"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="GAIN_P" value="800"/>
|
||||
<define name="GAIN_Q" value="800"/>
|
||||
<define name="GAIN_R" value="700"/>
|
||||
|
||||
<define name="IGAIN_P" value="140"/>
|
||||
<define name="IGAIN_Q" value="140"/>
|
||||
<define name="IGAIN_R" value="90"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="DDGAIN_P" value="300"/>
|
||||
<define name="DDGAIN_Q" value="300"/>
|
||||
<define name="DDGAIN_R" value="300"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<define name="SP_MAX_PHI" value="50." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="50." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="2"/>
|
||||
<define name="DEADBAND_E" value="2"/>
|
||||
<define name="DEADBAND_R" value="100"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="185"/>
|
||||
<define name="PHI_DGAIN" value="70"/>
|
||||
<define name="PHI_IGAIN" value="1"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="185"/>
|
||||
<define name="THETA_DGAIN" value="70"/>
|
||||
<define name="THETA_IGAIN" value="1"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="350"/>
|
||||
<define name="PSI_DGAIN" value="100"/>
|
||||
<define name="PSI_IGAIN" value="3"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- when using stabilization type float_quat use ones below, not tuned yet! -->
|
||||
<!--
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<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"/>
|
||||
|
||||
<define name="REF_OMEGA_P" value="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(400)}"/>
|
||||
<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="{RadOfDeg(250)}"/>
|
||||
<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.)"/>
|
||||
|
||||
<define name="PHI_PGAIN" value="{1000}"/>
|
||||
<define name="PHI_DGAIN" value="{1000}"/>
|
||||
<define name="PHI_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="{1000}"/>
|
||||
<define name="THETA_DGAIN" value="{1000}"/>
|
||||
<define name="THETA_IGAIN" value="{200}"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="{500}"/>
|
||||
<define name="PSI_DGAIN" value="{500}"/>
|
||||
<define name="PSI_IGAIN" value="{10}"/>
|
||||
|
||||
<define name="PHI_DGAIN_D" value="{100}"/>
|
||||
<define name="THETA_DGAIN_D" value="{100}"/>
|
||||
<define name="PSI_DGAIN_D" value="{100}"/>
|
||||
|
||||
<define name="PHI_DDGAIN" value="{300}"/>
|
||||
<define name="THETA_DDGAIN" value="{300}"/>
|
||||
<define name="PSI_DDGAIN" value="{300}"/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<!-- when using stabilization type indi use ones below, not tuned yet! -->
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.05"/>
|
||||
<define name="G1_Q" value="0.025"/>
|
||||
<define name="G1_R" value="0.0022"/>
|
||||
<define name="G2_R" value="0.20"/>
|
||||
|
||||
<!-- For some airframes, e.g. Bebop2 we need to filter the roll rate due to the dampers -->
|
||||
<define name="FILTER_ROLL_RATE" value="FALSE"/>
|
||||
<define name="FILTER_PITCH_RATE" value="FALSE"/>
|
||||
<define name="FILTER_YAW_RATE" value="FALSE"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="170.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="14.3"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
|
||||
<define name="FILT_CUTOFF" value="5.0"/>
|
||||
<define name="FILT_CUTOFF_P" value="5.0"/>
|
||||
|
||||
<!-- first order actuator dynamics (indi_simple) -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="TRUE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0003"/>
|
||||
|
||||
<!--Maxium yaw rate, to avoid instability -->
|
||||
<define name="MAX_R" value="120" unit="deg/s"/>
|
||||
</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="0.33"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</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="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value=" 0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value=" 0.85490967783446"/>
|
||||
|
||||
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="60." unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="650"/>
|
||||
<define name="DGAIN" value="350"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0" unit="m/s"/>
|
||||
<define name="DESCEND_VSPEED" value="-0.7" unit="m/s"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="ARRIVED_AT_WAYPOINT" value="0.2" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!-- ********************** AP ************************** -->
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/><!-- if GNSS use AP_MODE_NAV ...-->
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_RATE_DIRECT"/><!-- for now...-->
|
||||
<define name="MODE_AUTO2" value="AP_MODE_GUIDED"/> <!-- for dronerrace -->
|
||||
<!-- <define name="MODE_AUTO2" value="AP_MODE_NAV"/>--> <!-- If GNSS device is added for autonomous flight -->
|
||||
<!--<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>-->
|
||||
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<!-- If flying on a 2S1P 300mAh 40/80C LiPo -->
|
||||
<section name="BAT">
|
||||
<define name="MAX_BAT_CAPACITY" value="300" unit="mAh"/>
|
||||
<!-- tested at V 7.6 the avg --> <!-- idle RPM then ?A half throttle ?A-->
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="10" unit="mA"/> <!-- TODO ??mA, with additional RC receiver and wifi and jevois cam ~??mA -->
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="240" unit="mA"/> <!-- TODO At 7.2 ?? A at 8.2v ??A rounded then to ?? to be at safe side-->
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/> <!-- TODO: test when AP board switches off -->
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.7" unit="V"/> <!-- 2s LiPo HV 2x4.35 = 8.7 -->
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="FL, FR, BR, BL" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<!-- <define name="JS_AXIS_MODE" value="4"/>-->
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Trashcan"/>
|
||||
<define name="AC_ICON" value="quadrotor_x"/>
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/> <!-- 2m low diff for e.g. optitrack, use e.g 10m for outside-->
|
||||
<define name="ALT_SHIFT_PLUS" value="1" unit="m"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-1" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,202 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
|
||||
|
||||
<airframe name="mavtec">
|
||||
<!-- ************************* FIRMWARE ************************* -->
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_mx_2.1">
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
<module name="radio_control" type="ppm"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
|
||||
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
|
||||
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
|
||||
</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="asctec_v2"/>
|
||||
<module name="actuators" type="pwm"/>
|
||||
|
||||
<module name="telemetry" type="xbee_api"/>
|
||||
<module name="imu" type="lisa_mx_v2.1"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf"/>
|
||||
<module name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<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>
|
||||
|
||||
<!-- ************************* MODULES ************************* -->
|
||||
|
||||
<modules main_freq="512">
|
||||
<!-- <module name="logger_spi_link"/>
|
||||
<module name="imu_quality_assessment"/> -->
|
||||
<module name="switch" type="servo"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="gps" type="ubx_ucenter" />
|
||||
<module name="nav" type="survey_rectangle_rotorcraft"/>
|
||||
<module name="nav" type="survey_poly_rotorcraft"/>
|
||||
<module name="geo_mag"/>
|
||||
</modules>
|
||||
|
||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
<servos driver="Asctec_v2">
|
||||
<!-- This is hardcoded in actec_driver: keep this naming
|
||||
and numbering at all times -->
|
||||
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/><!-- FRONTLEFT -->
|
||||
<servo name="BACK" no="1" min="0" neutral="3" max="200"/><!-- FRONTRIGHT -->
|
||||
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/><!-- BACKRIGHT -->
|
||||
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/><!-- BACKLEFT -->
|
||||
</servos>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="DROP" no="4" min="1100" neutral="1500" max="2100"/>
|
||||
</servos>
|
||||
|
||||
<section name="SWITCH_SERVO">
|
||||
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
|
||||
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
|
||||
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
|
||||
<define name="DropOpen()" value="SwitchServoOn()"/>
|
||||
<define name="DropClose()" value="SwitchServoOff()"/>
|
||||
</section>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="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"/>
|
||||
<!-- FrontLeft - FrontRight - BackRight - BackLeft -->
|
||||
<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_get_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]"/>
|
||||
</command_laws>
|
||||
|
||||
<!-- ************************* SENSORS ************************* -->
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="0"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="0"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="140"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="146"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="80"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="3.68116427889" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.74966778358" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.05311539389" integer="16"/>
|
||||
|
||||
<define name= "MAG_X_CURRENT_COEF" value="0.00322676138551"/>
|
||||
<define name= "MAG_Y_CURRENT_COEF" value="0.00266367218758"/>
|
||||
<define name= "MAG_Z_CURRENT_COEF" value="-0.0004557295634"/>
|
||||
|
||||
<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="INS" prefix="INS_">
|
||||
</section>
|
||||
|
||||
<!-- ************************* GAINS ************************* -->
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="65." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="65." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="250." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="200"/>
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="600" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.87"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
<define name="REF_OMEGA_Q" value="600" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.87"/>
|
||||
<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="400"/>
|
||||
<define name="PHI_DGAIN" value="100"/>
|
||||
<define name="PHI_IGAIN" value="10"/>
|
||||
<define name="THETA_PGAIN" value="400"/>
|
||||
<define name="THETA_DGAIN" value="100"/>
|
||||
<define name="THETA_IGAIN" value="10"/>
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="90"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="100"/>
|
||||
<define name="THETA_DDGAIN" value="100"/>
|
||||
<define name="PSI_DDGAIN" value="200"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="500"/>
|
||||
<define name="HOVER_KD" value="200"/>
|
||||
<define name="HOVER_KI" value="100"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* MISC ************************* -->
|
||||
|
||||
<section name="MAGNETICS" prefix="AHRS_H_">
|
||||
<define name="X" value="0.4"/>
|
||||
<define name="Y" value="0"/>
|
||||
<define name="Z" value="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</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>
|
||||
|
||||
</airframe>
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
+19
-19
@@ -1,13 +1,13 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!--
|
||||
* Vivify (http://www.openuas.org/)
|
||||
<airframe name="Vivify">
|
||||
<description>
|
||||
* Vivify (http://www.openuas.org/airframes)
|
||||
Lisa M v2.0 (http://paparazzi.enac.fr/wiki/index.php/)
|
||||
With modified power routing by setting Jumper J1
|
||||
+ Aspirin v2.2 inclusive MS5611
|
||||
+ XBee XSC 900Mhz or XBP868 depending on location flown
|
||||
+ depending on location flown
|
||||
+ uBlox LEA5H and Sarantel helix GPS antenna
|
||||
+ Spektrum RX DSMX clone - optional mission demanding a R16Scan40MHZ RX
|
||||
+ Open RXSR - optional mission demanding a R16Scan40MHZ RX
|
||||
+ Analog Airspeed sensor
|
||||
+ MK2 Second LisaM as FTD, plus additional power measurement for this board
|
||||
|
||||
@@ -25,9 +25,8 @@
|
||||
Modules to activate:
|
||||
+ Current sensor on battery wires going to motor
|
||||
+ geo_mag module if fixed for fixedwing
|
||||
-->
|
||||
|
||||
<airframe name="Vivify">
|
||||
</description>
|
||||
<!-- ************************* FIRMWARE ************************* -->
|
||||
<firmware name="fixedwing">
|
||||
<define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
|
||||
@@ -61,7 +60,7 @@
|
||||
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<!-- <define name="ALT_KALMAN"/>-->
|
||||
|
||||
<define name="TUNE_AGRESSIVE_CLIMB"/>
|
||||
<define name="STRONG_WIND"/>
|
||||
<define name="WIND_INFO"/>
|
||||
@@ -79,13 +78,12 @@
|
||||
|
||||
<!-- * Communication * -->
|
||||
<module name="telemetry" type="transparent">
|
||||
<!-- or use type="xbee_api"> -->
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
<!-- <configure name="MODEM_BAUD" value="B57600"/>-->
|
||||
<configure name="MODEM_PORT" value="UART2"/>
|
||||
</module>
|
||||
|
||||
<module name="control" type="energy"/>
|
||||
<module name="control" type="energy"/><!-- or energyadaptive-->
|
||||
|
||||
<!-- * Sensors * -->
|
||||
<module name="gps" type="ublox">
|
||||
@@ -102,7 +100,6 @@
|
||||
|
||||
<target name="fbw" board="lisa_m_2.0">
|
||||
<configure name="SEPARATE_FBW" value="1"/>
|
||||
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
|
||||
<configure name="SYS_TIME_LED" value="2"/>
|
||||
@@ -159,8 +156,8 @@
|
||||
<!-- ****************************** SIM *********************************-->
|
||||
<target name="sim" board="pc">
|
||||
<define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
<module name="telemetry" type="xbee_api">
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</module>
|
||||
<module name="control" type="energy"/>
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
@@ -190,10 +187,14 @@
|
||||
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE" />
|
||||
</module>
|
||||
<!-- CDW: module name="obc2014"/-->
|
||||
<!-- Load -->
|
||||
|
||||
<!-- module name="sys_mon"/> -->
|
||||
|
||||
<!--
|
||||
<module name="flight_benchmark">
|
||||
<define name="BENCHMARK_AIRSPEED value="TRUE"/>
|
||||
<define name="BENCHMARK_ALTITUDE value="TRUE"/>
|
||||
<define name="BENCHMARK_POSITION value="TRUE"/>
|
||||
<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="2" unit="m/s"/>
|
||||
<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="4" unit="m"/>
|
||||
<define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/>
|
||||
@@ -207,7 +208,7 @@
|
||||
<define name="AIRSPEED_ADC_BIAS" value="413"/>
|
||||
</module>
|
||||
|
||||
<module name="tune_airspeed" />
|
||||
<module name="tune_airspeed"/>
|
||||
|
||||
<module name="adc_generic">
|
||||
<!-- If we want to read the voltage of battery voltage main engine over AP board via V_BATT -->
|
||||
@@ -261,10 +262,10 @@
|
||||
<module name="nav" type="bungee_takeoff"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="test_progs">
|
||||
<!--<firmware name="test_progs">
|
||||
<target name="test_can" board="lisa_m_2.0"/>
|
||||
</firmware>
|
||||
|
||||
</firmware>-->
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="lisa_m_2.0"/>
|
||||
</firmware>
|
||||
@@ -598,7 +599,6 @@ we had an option to use glovs, or start up spinning the prop after a throw. If t
|
||||
<!-- ************************ GCS SPECIFICS ******************************** -->
|
||||
<section name="GCS">
|
||||
<define name="SPEECH_NAME" value="Vivify"/>
|
||||
<!--TODO: rather see this in <airframe name="Vivify" spokenname="sayitnow"> as optional parameter-->
|
||||
<define name="AC_ICON" value="flyingwing"/>
|
||||
</section>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -83,6 +83,8 @@
|
||||
|
||||
<target name="ap" board="disco">
|
||||
|
||||
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
||||
|
||||
<!-- Towards better kind of aligner initial conditions -->
|
||||
<!--
|
||||
<define name="AHRS_ALIGNER_SAMPLES_NB" value="600"/>
|
||||
@@ -119,8 +121,7 @@
|
||||
<configure name="TELEMETRY_FREQUENCY" value="60"/> <!-- unit="Hz" -->
|
||||
<configure name="MODULES_FREQUENCY" value="512"/> <!-- unit="Hz" -->
|
||||
|
||||
<module name="imu" type="disco">
|
||||
</module>
|
||||
<module name="imu" type="disco"/>
|
||||
|
||||
<module name="sonar_bebop"><!-- already in IMU as autoload but we need to set a few things-->
|
||||
<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES" value="FALSE"/><!-- activate later if all works and test GLS autoland with it -->
|
||||
@@ -153,7 +154,7 @@
|
||||
<!--<module name="flight_benchmark">
|
||||
<define name="BENCHMARK_AIRSPEED value="TRUE"/>
|
||||
<define name="BENCHMARK_ALTITUDE value="TRUE"/>
|
||||
<define name="BENCHMARK_P/mnt/ad9c1acf-3293-427b-9b65-3f121f8e1d3d/develop/allthings_paparazzi/paparazzi/sw/ground_segment/tmtc/gpsd2ivy OSITION value="TRUE"/>
|
||||
<define name="BENCHMARK_POSITION value="TRUE"/>
|
||||
<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="1" unit="m/s"/>
|
||||
<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="4" unit="m"/>
|
||||
<define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/>
|
||||
@@ -295,7 +296,7 @@
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="tune_airspeed"/> <!-- Enable if one want to perform airspeed tuning -->
|
||||
|
||||
<module name="ahrs" type="float_cmpl_quat"> <!-- Compare e.g. float_dcm -->
|
||||
<module name="ahrs" type="float_cmpl_quat"> <!-- Compare e.g.cmpl_quat float_dcm -->
|
||||
<configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/> <!-- as in USE it for values in the AHRS -->
|
||||
<!--<configure name="AHRS_ALIGNER_LED" value="2"/>--><!-- Which color you want sir? ;) -->
|
||||
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/> <!-- if TRUE with those high roll n pith angles magneto should be calibrated well or use UKF autocalib -->
|
||||
@@ -307,8 +308,8 @@
|
||||
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="3.0"/> <!--unit="m/s"--> <!-- CAREFULL, Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
|
||||
<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.5"/> <!-- TODO: determine Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
|
||||
<define name="AHRS_ICQ_IMU_ID" value="ABI_BROADCAST"/> <!-- ABI sender id of IMU to use -->
|
||||
<define name="AHRS_ICQ_MAG_ID" value="MAG_CALIB_UKF_ID" /><!-- for when using the mag_clib_ukf -->
|
||||
<define name="AHRS_FC_IMU_ID" value="ABI_BROADCAST"/> <!-- ABI sender id of IMU to use -->
|
||||
<define name="AHRS_FC_MAG_ID" value="MAG_CALIB_UKF_ID" /><!-- for when using the mag_clib_ukf -->
|
||||
</module>
|
||||
|
||||
<module name="ins" type="alt_float"/> <!--Does not work in SIM: extended thus use alt_float"/> -->
|
||||
@@ -341,14 +342,10 @@
|
||||
<module name="nav" type="flower"/>
|
||||
|
||||
<!-- can be used in flightplan during takeoff/landing or lowflyby with default sonar -->
|
||||
<!--<module name="agl_dist">
|
||||
</module>-->
|
||||
<!-- can be used in flightplan during takeoff/landing or lowflyby with default sonar -->
|
||||
<module name="agl_dist">
|
||||
<define name="USE_SONAR"/>
|
||||
</module>
|
||||
|
||||
|
||||
<!-- Propellor spinup of Disco is to slow with direct handlaunch, "catapult" module not all to usable -->
|
||||
<!-- <module name="nav" type="catapult"/>-->
|
||||
|
||||
@@ -480,7 +477,7 @@
|
||||
<!-- <set command="CALIB" value="@GAIN2"/> -->
|
||||
</rc_commands>
|
||||
|
||||
<!-- ************************ AUTO RC COMMANDS ***************************** -->
|
||||
<!-- ************************ AUTO RC COMMANDS ********************* -->
|
||||
<auto_rc_commands>
|
||||
<!--**TEMPorary for heading change steering if someting not OK with course in Autonomous flight **-->
|
||||
<set command="YAW" value="@YAW"/>
|
||||
@@ -493,7 +490,7 @@
|
||||
<!--<set command="PITCH" value="@PITCH"/>-->
|
||||
</auto_rc_commands>
|
||||
|
||||
<!-- ************************ COMMANDS ***************************** -->
|
||||
<!-- *************************** COMMANDS ************************** -->
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="5"/>
|
||||
@@ -501,7 +498,7 @@
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<!-- ************************ AUTO1 ***************************** -->
|
||||
<!-- *************************** AUTO1 ***************************** -->
|
||||
<!-- Do not set MAX_ROLL, MAX_PITCH to small of a value, otherwise one can NOT control the plane very well manually -->
|
||||
<!-- If you have dual rate swith it of with same swtch as mode switch thus auto1 means dualrate is switched off also -->
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
@@ -509,7 +506,7 @@
|
||||
<define name="MAX_PITCH" value="45" unit="deg"/> <!-- More autority while testflying for first time -->
|
||||
</section>
|
||||
|
||||
<!-- ************************ TRIM ***************************** -->
|
||||
<!-- **************************** TRIM ***************************** -->
|
||||
<section name="TRIM" prefix="COMMAND_">
|
||||
<define name="ROLL_TRIM" value="0.0"/>
|
||||
<define name="PITCH_TRIM" value="0.0"/>
|
||||
@@ -524,10 +521,10 @@
|
||||
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* IMU ************************* -->
|
||||
<!-- **************************** IMU ****************************** -->
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<!-- ***************** GYRO *****************-->
|
||||
<!-- ********************* GYRO ********************-->
|
||||
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
|
||||
@@ -608,18 +605,19 @@ The most crucial part for the magnetometer calibration:
|
||||
|
||||
<!-- ************************* AHRS ************************* -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Values used if no GNSS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Better keep geo_mag module ifyou have a GNSDS, else replace the values with your local magnetic field -->
|
||||
<!-- Values used if no GNSS fix, on 3D fix is updated by geo_mag module -->
|
||||
<!-- Better use the geo_mag module if you have a GNSS, else replace the values with your local magnetic field -->
|
||||
|
||||
<!-- Local Magnetic field DE2019 -->
|
||||
<define name="H_X" value="0.38644"/>
|
||||
<define name="H_Y" value="0.02054"/>
|
||||
<define name="H_Z" value="0.92209"/>
|
||||
<!--North, East and Vertical Components do: Normalize[{19738.7, 899.5, 44845.6}] -->
|
||||
<!-- Local Magnetic field DE2020 -->
|
||||
<define name="H_X" value="0.402784"/>
|
||||
<define name="H_Y" value="0.018355"/>
|
||||
<define name="H_Z" value="0.915111"/>
|
||||
</section>
|
||||
|
||||
<!-- ************************* INS ************************* -->
|
||||
<section name="INS">
|
||||
<!-- For those super precice target landings ;) well better build in a uBLox M8P-->
|
||||
<!-- For those super precise target landings ;) well better build in a uBLox M8P-->
|
||||
<define name="INS_BODY_TO_GPS_X" value="0.11" unit="m"/>
|
||||
<define name="INS_BODY_TO_GPS_Y" value="0.0" unit="m"/>
|
||||
<define name="INS_BODY_TO_GPS_Z" value="0.03" unit="m"/>
|
||||
@@ -764,6 +762,9 @@ The most crucial part for the magnetometer calibration:
|
||||
|
||||
<define name="AIRSPEED_PGAIN" value="0.19"/>
|
||||
|
||||
<!-- For control classic as in not new or enegry etc.-->
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.18" unit="%/(m/s)"/>
|
||||
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3.0" unit="m/s"/> <!-- TODO: Determine -->
|
||||
<define name="MAX_ACCELERATION" value="0.9" unit="G"/> <!-- TODO: Determine -->
|
||||
|
||||
@@ -1,244 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
<!--
|
||||
* Psi a slightly modified Parrot AR.Drone 2.0 (http://www.openuas.org/)
|
||||
+ uBlox LEA5H and Sarantel helix GPS antenna
|
||||
|
||||
NOTES:
|
||||
+ Original ballbearings replaced with real ball bearings for all axis
|
||||
+ Frontcamera movable by servo on debug port - optional
|
||||
+ Spektrum RX DSMX clone on debug port - optional
|
||||
+ Iridium 9603N - optional
|
||||
+ Flies on INDI control
|
||||
-->
|
||||
|
||||
<airframe name="Psi">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="ardrone2">
|
||||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
|
||||
|
||||
<!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>-->
|
||||
<define name="BAT_CHECKER_DELAY" value="50"/>
|
||||
<!-- amount of time it take for the bat to check -->
|
||||
<!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
|
||||
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="50"/><!-- in seconds-->
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_SONAR" value="TRUE"/>
|
||||
|
||||
<!--<define name="USE_UART2"/>-->
|
||||
<!--<define name="DEBUG_NMEA"/>-->
|
||||
<!-- <define name="DEBUG_SIRF"/>-->
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="ardrone2"/>
|
||||
<module name="imu" type="ardrone2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
|
||||
<!--<module name="gps" type="nmea"/>-->
|
||||
<!-- for testing parrot dongele enablethis-->
|
||||
<!-- <module name="gps" type="sirf">-->
|
||||
<!--<configure name="UART2_DEV" value="UART2"/>-->
|
||||
<!--<configure name="GPS_PORT" value="UART2_DEV"/>-->
|
||||
<!-- <configure name="GPS_BAUD" value="B57600"/>-->
|
||||
<!-- </module> -->
|
||||
|
||||
|
||||
<module name="stabilization" type="indi_simple"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
|
||||
</module>
|
||||
<module name="ins" type="extended"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="send_imu_mag_current"/>
|
||||
<module name="air_data"/>
|
||||
<module name="logger_file"/>
|
||||
</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="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- 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_get_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="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration for this specific airframe TODO-->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<!-- Magneto current calibration TODO -->
|
||||
<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"/>
|
||||
<!-- TODO should be zeros in ideal scenario -->
|
||||
<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_">
|
||||
<!-- Local Magnetic field NL Testfield-->
|
||||
<!--
|
||||
<define name="H_X" value="0.382478"/>
|
||||
<define name="H_Y" value="0.00563406"/>
|
||||
<define name="H_Z" value="0.923948"/>
|
||||
-->
|
||||
<!-- Local Magnetic field DE Testfield -->
|
||||
<define name="H_X" value="0.403896"/>
|
||||
<define name="H_Y" value="0.012277"/>
|
||||
<define name="H_Z" value="0.914723"/>
|
||||
</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="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoint limits for attitude stabilization rc flight -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="180" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
</section>
|
||||
|
||||
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- attitude reference generation model -->
|
||||
<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.)"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness -->
|
||||
<define name="G1_P" value="0.032"/>
|
||||
<define name="G1_Q" value="0.025"/>
|
||||
<define name="G1_R" value="0.0032"/>
|
||||
<define name="G2_R" value="0.16"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="380.0"/>
|
||||
<define name="REF_ERR_Q" value="380.0"/>
|
||||
<define name="REF_ERR_R" value="250.0"/>
|
||||
<define name="REF_RATE_P" value="21.6"/>
|
||||
<define name="REF_RATE_Q" value="21.6"/>
|
||||
<define name="REF_RATE_R" value="21.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
<define name="FILT_CUTOFF_R" value="3.2"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_DYN_P" value="0.06"/>
|
||||
<define name="ACT_DYN_Q" value="0.06"/>
|
||||
<define name="ACT_DYN_R" value="0.06"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</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="FALSE"/>
|
||||
</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="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</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_ardrone2" type="string"/>
|
||||
<define name="JSBSIM_INIT" value="reset00" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</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>
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,332 @@
|
||||
<conf>
|
||||
<aircraft
|
||||
name="ARDrone_2"
|
||||
ac_id="238"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_ardrone_2.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/opticflow_hover.xml modules/stabilization_indi_simple.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#ffffb25313ae"
|
||||
/>
|
||||
<aircraft
|
||||
name="Bebop"
|
||||
ac_id="205"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_bebop.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/nps.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#ffffe8b36503"
|
||||
/>
|
||||
<aircraft
|
||||
name="Bebop_2_Black"
|
||||
ac_id="240"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_bebop_2.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/nps.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#d294d294d294"
|
||||
/>
|
||||
<aircraft
|
||||
name="Bebop_2_White"
|
||||
ac_id="239"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_bebop_2.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#f18bf18bf18b"
|
||||
/>
|
||||
<aircraft
|
||||
name="Bebopeye"
|
||||
ac_id="198"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_bebop.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/nps.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#ffffe8b36503"
|
||||
/>
|
||||
<aircraft
|
||||
name="Crazyfly_2_1"
|
||||
ac_id="197"
|
||||
airframe="airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22_cppm_7.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_pmw3901.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
|
||||
gui_color="#ffffec9c9ef7"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_A"
|
||||
ac_id="206"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/control/ctl_energyadaptive.xml] [settings/estimation/ac_char.xml] [settings/control/ctl_adaptive_h_ff.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/dc_ctrl_parrot_mykonos.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#fffff2dd04af"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_B"
|
||||
ac_id="207"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml settings/estimation/ac_char.xml settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/dc_ctrl_parrot_mykonos.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#ffff0000e91e"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_C"
|
||||
ac_id="208"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml settings/estimation/ac_char.xml settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/dc_ctrl_parrot_mykonos.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#0000ffffffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_D"
|
||||
ac_id="209"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml settings/estimation/ac_char.xml settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/dc_ctrl_parrot_mykonos.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#0000ffffffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="EFlite_T28"
|
||||
ac_id="216"
|
||||
airframe="airframes/OPENUAS/openuas_eflite_t28.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Flexo"
|
||||
ac_id="190"
|
||||
airframe="airframes/OPENUAS/openuas_own_flexo.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="#fffff44a2254"
|
||||
/>
|
||||
<aircraft
|
||||
name="G2"
|
||||
ac_id="204"
|
||||
airframe="airframes/OPENUAS/openuas_durafly_g2.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_fixedwing.xml"
|
||||
flight_plan="flight_plans/versatile.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/tune_agr_climb.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/lidar_tfmini.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffeb519c78"
|
||||
/>
|
||||
<aircraft
|
||||
name="Goblin"
|
||||
ac_id="181"
|
||||
airframe="airframes/OPENUAS/openuas_durafly_goblin.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/basic.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="yellow"
|
||||
/>
|
||||
<aircraft
|
||||
name="Iris_Plus"
|
||||
ac_id="235"
|
||||
airframe="airframes/OPENUAS/openuas_3dr_iris_plus.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/px4flow_i2c.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#ffffec9c9ef7"
|
||||
/>
|
||||
<aircraft
|
||||
name="Itsy_Bitsy"
|
||||
ac_id="253"
|
||||
airframe="airframes/OPENUAS/openuas_own_itsy_bitsy.xml"
|
||||
radio="radios/spektrum.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="[settings/rotorcraft_basic.xml] settings/superbitrf.xml settings/control/stabilization_att_int_quat.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
|
||||
gui_color="#fffff92a2254"
|
||||
/>
|
||||
<aircraft
|
||||
name="Mini_Spirit"
|
||||
ac_id="182"
|
||||
airframe="airframes/OPENUAS/openuas_df_mini_spirit.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22_cppm.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/basic.xml"
|
||||
settings="settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Minimag"
|
||||
ac_id="233"
|
||||
airframe="airframes/OPENUAS/openuas_multiplex_minimag.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml] settings/control/ctl_new.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Moksha"
|
||||
ac_id="236"
|
||||
airframe="airframes/OPENUAS/openuas_own_moksha.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22_cppm.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml"
|
||||
settings="settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/gps.xml modules/guidance_energy.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffed9b40f2"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadshot_W_Negative"
|
||||
ac_id="245"
|
||||
airframe="airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#ffff36c42e8d"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadshot_W_Positive"
|
||||
ac_id="244"
|
||||
airframe="airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#224fffff36c4"
|
||||
/>
|
||||
<aircraft
|
||||
name="Sumo_II"
|
||||
ac_id="189"
|
||||
airframe="airframes/OPENUAS/openuas_own_sumo_ii.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="#fffff44a2254"
|
||||
/>
|
||||
<aircraft
|
||||
name="Taxi_III"
|
||||
ac_id="225"
|
||||
airframe="airframes/OPENUAS/openuas_graupner_taxi_iii.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/basic.xml"
|
||||
settings="settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/digital_cam.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/infrared_adc.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffeb519c78"
|
||||
/>
|
||||
<aircraft
|
||||
name="Tinyhawk_II"
|
||||
ac_id="179"
|
||||
airframe="airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/dummy.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/persistent_settings.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/gps.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml [modules/ins_extended.xml] [modules/nav_basic_rotorcraft.xml] modules/radio_control_cc2500_frsky.xml modules/stabilization_int_quat.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Trashcan"
|
||||
ac_id="203"
|
||||
airframe="airframes/OPENUAS/openuas_eachine_trashcan.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft_slow.xml"
|
||||
flight_plan="flight_plans/dummy.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/gps.xml [modules/guidance_rotorcraft.xml] modules/imu_common.xml [modules/ins_extended.xml] [modules/nav_basic_rotorcraft.xml] modules/radio_control_cc2500_frsky.xml modules/stabilization_int_quat.xml"
|
||||
gui_color="yellow"
|
||||
/>
|
||||
<aircraft
|
||||
name="Trashcan_voir"
|
||||
ac_id="202"
|
||||
airframe="airframes/OPENUAS/openuas_eachine_trashcan.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/default_rotorcraft_slow.xml"
|
||||
flight_plan="flight_plans/dummy.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/gps.xml [modules/guidance_rotorcraft.xml] [modules/imu_common.xml] [modules/ins_extended.xml] [modules/nav_basic_rotorcraft.xml] modules/radio_control_cc2500_frsky.xml [modules/stabilization_int_quat.xml]"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Twinstar_ND"
|
||||
ac_id="184"
|
||||
airframe="airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/digital_cam.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="UMX_Sbach_342"
|
||||
ac_id="219"
|
||||
airframe="airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22_cppm_7.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/versatile.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] settings/control/tune_agr_climb.xml [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffffffffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="Vivify"
|
||||
ac_id="246"
|
||||
airframe="airframes/OPENUAS/openuas_own_vivify.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
|
||||
settings="settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/airspeed_adc.xml modules/photogrammetry_calculator.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml modules/digital_cam_uart.xml"
|
||||
gui_color="#fffffac7c07a"
|
||||
/>
|
||||
<aircraft
|
||||
name="XVert"
|
||||
ac_id="217"
|
||||
airframe="airframes/OPENUAS/openuas_eflite_xvert.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft_slow.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#fffff3c90091"
|
||||
/>
|
||||
</conf>
|
||||
@@ -1,71 +1,4 @@
|
||||
<conf>
|
||||
<aircraft
|
||||
name="Disco_A"
|
||||
ac_id="206"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/control/ctl_energyadaptive.xml] [settings/estimation/ac_char.xml] settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/digital_cam_video.xml modules/dc_ctrl_parrot_mykonos.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_cmpl_quat.xml modules/tune_airspeed.xml modules/gps.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/imu_common.xml"
|
||||
gui_color="#fffff2dd04af"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_B"
|
||||
ac_id="207"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml settings/estimation/ac_char.xml settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/digital_cam_video.xml modules/dc_ctrl_parrot_mykonos.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_cmpl_quat.xml modules/tune_airspeed.xml modules/gps.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/imu_common.xml"
|
||||
gui_color="#ffff0000e91e"
|
||||
/>
|
||||
<aircraft
|
||||
name="Disco_C"
|
||||
ac_id="208"
|
||||
airframe="airframes/OPENUAS/openuas_parrot_disco.xml"
|
||||
radio="radios/OPENUAS/openuas_sbus_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml settings/estimation/ac_char.xml settings/control/ctl_adaptive_h_ff.xml"
|
||||
settings_modules="modules/digital_cam_video.xml modules/dc_ctrl_parrot_mykonos.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/bebop_cam.xml modules/photogrammetry_calculator.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_cmpl_quat.xml modules/tune_airspeed.xml modules/gps.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/imu_common.xml"
|
||||
gui_color="#0000ffffffff"
|
||||
release="8e50f043b163f2b838dadaf1740a3e17b292505b"
|
||||
/>
|
||||
<aircraft
|
||||
name="EFlite_T28"
|
||||
ac_id="216"
|
||||
airframe="airframes/OPENUAS/openuas_eflite_t28.xml"
|
||||
radio="radios/OPENUAS/openuas_openrxsr_sbus_16_out.xml"
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml]"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Itsy-Bitsy"
|
||||
ac_id="229"
|
||||
airframe="airframes/OPENUAS/openuas_itsybitsy.xml"
|
||||
radio="radios/cockpitSX.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
|
||||
gui_color="#fffffe72b9fd"
|
||||
/>
|
||||
<aircraft
|
||||
name="Leapfrogeye"
|
||||
ac_id="228"
|
||||
airframe="airframes/OPENUAS/openuas_leapfrogeye.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_survey.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
|
||||
settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/bebop_cam.xml modules/air_data.xml modules/geo_mag.xml modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="#ffffe8b36503"
|
||||
/>
|
||||
<aircraft
|
||||
name="Minimag"
|
||||
ac_id="233"
|
||||
@@ -74,62 +7,7 @@
|
||||
telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml"
|
||||
settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml] settings/control/ctl_new.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/filter_1euro_imu.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml"
|
||||
gui_color="white"
|
||||
/>
|
||||
<aircraft
|
||||
name="Moksha"
|
||||
ac_id="226"
|
||||
airframe="airframes/OPENUAS/openuas_moksha.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22_cppm.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml"
|
||||
settings="settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/nav_catapult.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/nav_basic_fw.xml modules/gps.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffeb519c78"
|
||||
/>
|
||||
<aircraft
|
||||
name="Psi"
|
||||
ac_id="225"
|
||||
airframe="airframes/OPENUAS/openuas_psi.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_rotorcraft_simple.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
|
||||
gui_color="#fffffe72b9fd"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quadyshoty"
|
||||
ac_id="224"
|
||||
airframe="airframes/examples/quadshot_asp21_spektrum.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
|
||||
gui_color="#ffffffffffff"
|
||||
/>
|
||||
<aircraft
|
||||
name="TaxiIII"
|
||||
ac_id="223"
|
||||
airframe="airframes/OPENUAS/openuas_taxiiii.xml"
|
||||
radio="radios/OPENUAS/openuas_mx22.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_nav_modules_test.xml"
|
||||
settings="settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/nav_catapult.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam.xml modules/infrared_adc.xml modules/gps_ubx_ucenter.xml modules/nav_basic_fw.xml modules/gps.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
|
||||
gui_color="#ffffeb519c78"
|
||||
/>
|
||||
<aircraft
|
||||
name="Vivify"
|
||||
ac_id="222"
|
||||
airframe="airframes/OPENUAS/openuas_vivify.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
|
||||
flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
|
||||
settings="settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
|
||||
settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/nav_basic_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
|
||||
gui_color="#fffffac7c07a"
|
||||
/>
|
||||
</conf>
|
||||
|
||||
@@ -166,7 +166,7 @@
|
||||
</program>
|
||||
<program name="Link Combiner"/>
|
||||
</session>
|
||||
<session name="OpenUAS testflights">
|
||||
<session name="OpenUAS testflights 2020">
|
||||
<program name="GCS">
|
||||
<arg flag="-speech"/>
|
||||
<arg flag="-layout" constant="OPENUAS/openuas_bottom_settings.xml"/>
|
||||
@@ -185,7 +185,6 @@
|
||||
<arg flag="-s" constant="57600"/>
|
||||
</program>
|
||||
<program name="Server"/>
|
||||
<program name="GPSd position display"/>
|
||||
</session>
|
||||
<session name="Flight USB-serial@9600">
|
||||
<program name="Data Link">
|
||||
|
||||
Reference in New Issue
Block a user