mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
updated airframe
This commit is contained in:
Eric Parsonage
@@ -7,10 +7,10 @@
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</modules>
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<servos>
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<servo name="FRONT" no="3" min="1000" neutral="1500" max="2000"/>
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<servo name="BACK" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="LEFT" no="2" min="1000" neutral="1500" max="2000"/>
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<servo name="RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
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<servo name="FRONT" no="2" min="1000" neutral="1500" max="2000"/>
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<servo name="BACK" no="0" min="1000" neutral="1500" max="2000"/>
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<servo name="LEFT" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
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<servo name="ESC" no="4" min="1000" neutral="1000" max="2000"/>
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</servos>
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@@ -20,43 +20,49 @@
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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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<!--
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<command_laws>
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<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
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<set servo="FRONT" value=" @PITCH + @YAW - (@THRUST<<5)"/>
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<set servo="BACK" value="-@PITCH + @YAW - (@THRUST<<5)"/>
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<set servo="LEFT" value=" @ROLL - @YAW - (@THRUST<<5)"/>
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<set servo="RIGHT" value="-@ROLL - @YAW - (@THRUST<<5)"/>
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<set servo="FRONT" value="-(@PITCH + @YAW + (1.3 * (@THRUST<<5)))"/>
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<set servo="BACK" value="-(-@PITCH + @YAW + (1.3 *(@THRUST<<5)))"/>
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<set servo="LEFT" value="-(@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
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<set servo="RIGHT" value="-(-@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
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</command_laws>
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-->
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<command_laws>
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<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
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<set servo="FRONT" value="-(@PITCH - @YAW + @THRUST)"/>
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<set servo="BACK" value="-(-@PITCH - @YAW + @THRUST)"/>
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<set servo="LEFT" value="-(@ROLL + @YAW + @THRUST)"/>
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<set servo="RIGHT" value="-(-@ROLL + @YAW + @THRUST)"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="32858"/>
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<define name="GYRO_Q_NEUTRAL" value="33152"/>
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<define name="GYRO_R_NEUTRAL" value="31779"/>
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<define name="GYRO_P_NEUTRAL" value="33550"/>
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<define name="GYRO_Q_NEUTRAL" value="33500"/>
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<define name="GYRO_R_NEUTRAL" value="32500"/>
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<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
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<!-- accelerations done on 18/10/2010 -->
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<define name="ACCEL_X_NEUTRAL" value="32093"/>
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<define name="ACCEL_Y_NEUTRAL" value="32301"/>
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<define name="ACCEL_Z_NEUTRAL" value="32293"/>
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<define name="ACCEL_X_SENS" value="2.53098065315" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.52055255767" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.57032707747" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32899"/>
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<define name="ACCEL_Y_NEUTRAL" value="33281"/>
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<define name="ACCEL_Z_NEUTRAL" value="32569"/>
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<define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-9"/>
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<define name="MAG_Y_NEUTRAL" value="-4"/>
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<define name="MAG_Z_NEUTRAL" value="14"/>
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<define name="MAG_X_SENS" value="3.61018203965" integer="16"/>
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<define name="MAG_Y_SENS" value="4.13471628028" integer="16"/>
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<define name="MAG_Z_SENS" value="2.07762920804" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="30"/>
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<define name="MAG_Y_NEUTRAL" value="80"/>
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<define name="MAG_Z_NEUTRAL" value="19"/>
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<define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
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<define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
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<define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.53 )"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -1.24 )"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0)"/>
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</section>
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@@ -109,6 +115,24 @@
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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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="-5000"/>
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<define name="PHI_DGAIN" value="-400"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-5000"/>
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-400"/>
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<define name="PSI_PGAIN" value="2000"/>
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<define name="PSI_DGAIN" value="350"/>
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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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<!-- feedback -->
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<define name="PHI_PGAIN" value="-2000"/>
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<define name="PHI_DGAIN" value="-400"/>
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@@ -118,14 +142,14 @@
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-400"/>
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<define name="PSI_PGAIN" value="-1000"/>
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<define name="PSI_DGAIN" value="-350"/>
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<define name="PSI_IGAIN" value="-10"/>
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<define name="PSI_PGAIN" value="1000"/>
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<define name="PSI_DGAIN" value="350"/>
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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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<define name="PSI_DDGAIN" value=" -300"/>
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</section>
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@@ -163,9 +187,10 @@
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.0">
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<define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX2"/>
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<define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX1"/>
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<define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
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<define name = "HELI"/>
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<!-- <define name = "KILL_MOTORS" /> -->
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<!-- if we want a secondary spektrum reciever we need to set the board to be
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lisa_l_1.1 and rewired accordingly then set the following.
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<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
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