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Rot wing updates (#3238)

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* [airframes] rot_wing airframe updates

* Updated small rot_wing drones

* Updated rot_wing_v3f calibrations
This commit is contained in:
Dennis-Wijngaarden
2024-02-13 13:33:23 +01:00
committed by GitHub
parent 2ae4fed4e3
commit f44444c918
7 changed files with 1634 additions and 7 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+4 -4
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@@ -144,7 +144,7 @@
<servo no="2" name="MOTOR_BACK" min="-8191" neutral="-5000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="-8191" neutral="-5000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="-8191" neutral="-8191" max="8191"/>
<servo no="5" name="SERVO_ELEVATOR" min="-8191" neutral="-8191" max="4900"/>
<servo no="5" name="SERVO_ELEVATOR" min="-3191" neutral="-3191" max="4900"/>
<servo no="6" name="SERVO_RUDDER" min="-6500" neutral="0" max="6500"/>
<servo no="7" name="ROTATION_MECH" min="8191" neutral="0" max="-8191"/>
<servo no="8" name="AIL_RIGHT" min="-8000" neutral="-1000" max="5000"/>
@@ -161,7 +161,7 @@
<servo no="2" name="BMOTOR_BACK" min="-8191" neutral="-5000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="-8191" neutral="-5000" max="8191"/>
<servo no="4" name="BMOTOR_PUSH" min="-8191" neutral="-8191" max="8191"/>
<servo no="5" name="BSERVO_ELEVATOR" min="-8191" neutral="-8191" max="4900"/>
<servo no="5" name="BSERVO_ELEVATOR" min="-3191" neutral="-3191" max="4900"/>
<servo no="6" name="BSERVO_RUDDER" min="-6500" neutral="0" max="6500"/>
<servo no="7" name="BROTATION_MECH" min="8191" neutral="0" max="-8191"/>
<servo no="8" name="BAIL_RIGHT" min="-8000" neutral="-1000" max="5000"/>
@@ -244,7 +244,7 @@
<define name="HOVER_ROLL_PITCH_COEF" value="{0.015, -0.011}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{0.0, -0.0}"/>
<define name="K_ELEVATOR" value="{ 1.27655, -13.3525, -80.0}"/>
<define name="K_ELEVATOR" value="{ 1.27655, -13.3525, -96.0}"/>
<define name="K_RUDDER" value="{-72.5037, -0.9329, -3.23651}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
@@ -413,7 +413,7 @@
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
conf/airframes/tudelft/rot_wing_v3d.xml
+1 -1
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@@ -68,7 +68,7 @@
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.618426"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
conf/airframes/tudelft/rot_wing_v3e.xml
-2
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@@ -266,8 +266,6 @@
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
<set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)" SERVO="BROTATION_MECH"/>
<call fun="actuators_pprz[9] = (rotwing_state_skewing.servo_pprz_cmd + MAX_PPRZ) / 2."/><!-- Fill skew for NPS: see NPS_ACTUATOR_NAMES for index -->
</command_laws>
<section PREFIX="SYS_ID_" NAME="SYS_ID">
conf/airframes/tudelft/rot_wing_v3f.xml
+532
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conf/airframes/tudelft/rot_wing_v3g.xml
+532
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conf/airframes/tudelft/rot_wing_v3h.xml
+532
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conf/userconf/tudelft/conf.xml
+33
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@@ -593,4 +593,37 @@
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft
name="RotatingWingV3F"
ac_id="10"
airframe="airframes/tudelft/rot_wing_v3f.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft
name="RotatingWingV3G"
ac_id="11"
airframe="airframes/tudelft/rot_wing_v3g.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft
name="RotatingWingV3H"
ac_id="33"
airframe="airframes/tudelft/rot_wing_v3h.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
</conf>