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Helicopter with Lisa-M
This commit is contained in:
Christophe De Wagter
@@ -0,0 +1,259 @@
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<!-- this is a synerani vehicle equiped with Lisa/M and generic china pwm motor controllers -->
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<airframe name="jt_lisam">
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<servos>
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<servo name="GAS" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="CIC_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="CIC_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
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<servo name="CIC_FRONT" no="1" min="1900" neutral="1500" max="1100"/>
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<servo name="TAIL" no="4" min="1100" neutral="1500" max="1900"/>
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<servo name="GYRO_GAIN" no="6" min="1100" neutral="1500" max="1900"/>
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</servos>
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<commands>
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<axis name="THRUST" failsafe_value="0"/>
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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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</commands>
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<section name="MIXER">
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<define name="TCURVE" value="1"/>
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<define name="SUPERVISION_SCALE" value="9600" />
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</section>
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<rc_commands>
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<set command="THRUST" value="@THRUST * SUPERVISION_SCALE / MAX_PPRZ"/>
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<set command="ROLL" value="@ROLL * SUPERVISION_SCALE / MAX_PPRZ"/>
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<set command="PITCH" value="@PITCH * SUPERVISION_SCALE / MAX_PPRZ"/>
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<set command="YAW" value="@YAW * SUPERVISION_SCALE / MAX_PPRZ"/>
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</rc_commands>
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<command_laws>
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<let var="halfway" value="(@THRUST >= (3800) ? 1 : 0)"/>
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<let var="thrust" value="@THRUST * MAX_PPRZ / SUPERVISION_SCALE" />
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<let var="roll" value="@ROLL * MAX_PPRZ / SUPERVISION_SCALE" />
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<let var="pitch" value="@PITCH * MAX_PPRZ / SUPERVISION_SCALE" />
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<let var="yaw" value="@YAW * MAX_PPRZ / SUPERVISION_SCALE" />
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<let var="collective" value="$thrust * 1.8 - (MAX_PPRZ * 0.9)" />
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<set servo="GAS" value="(3800 * 1.6) + $halfway * ($thrust - 3800) + (1 - $halfway) * ($thrust - 3800) * 1.6" />
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<set servo="CIC_LEFT" value="((-$pitch/2)+($roll*0.7))+($collective)"/>
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<set servo="CIC_RIGHT" value="(($pitch/2)+($roll*0.7))-($collective)"/>
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<set servo="CIC_FRONT" value="$pitch+($collective)"/>
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<set servo="TAIL" value="$yaw"/>
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<set servo="GYRO_GAIN" value="-MAX_PPRZ/2"/>
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</command_laws>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<!--
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AP_MODE_RATE_DIRECT AP_MODE_ATTITUDE_DIRECT AP_MODE_HOVER_DIRECT
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AP_MODE_RATE_RC_CLIMB AP_MODE_ATTITUDE_RC_CLIMB
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AP_MODE_ATTITUDE_CLIMB AP_MODE_HOVER_CLIMB
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AP_MODE_RATE_Z_HOLD AP_MODE_ATTITUDE_Z_HOLD AP_MODE_HOVER_Z_HOLD
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AP_MODE_NAV
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-->
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<section name="IMU" prefix="IMU_">
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<!--
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<define name="GYRO_P_CHAN" value="1"/>
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<define name="GYRO_Q_CHAN" value="0"/>
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<define name="GYRO_R_CHAN" value="2"/>
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-->
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="GYRO_P_NEUTRAL" value="-31"/>
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<define name="GYRO_Q_NEUTRAL" value="-48"/>
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<define name="GYRO_R_NEUTRAL" value="-17"/>
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<define name="GYRO_P_SENS" value="4.412" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
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<define name="GYRO_R_SENS" value="4.412" integer="16"/>
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<!--
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<define name="ACCEL_X_CHAN" value="3"/>
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<define name="ACCEL_Y_CHAN" value="5"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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-->
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="10"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="-3"/>
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<define name="ACCEL_X_SENS" value="38.4436411998" integer="16"/>
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<define name="ACCEL_Y_SENS" value="38.7116161958" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.970909149" integer="16"/>
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<!--
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<define name="MAG_X_CHAN" value="4"/>
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<define name="MAG_Y_CHAN" value="0"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_45_HACK" value="1"/>
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-->
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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="MAG_X_NEUTRAL" value="-56"/>
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<define name="MAG_Y_NEUTRAL" value="-171"/>
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<define name="MAG_Z_NEUTRAL" value="-100"/>
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<define name="MAG_X_SENS" value="4.3833130016" integer="16"/>
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<define name="MAG_Y_SENS" value="4.59820229976" integer="16"/>
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<define name="MAG_Z_SENS" value="4.3085068988" 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( 0.)"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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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="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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</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="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
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<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
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<define name="REF_ZETA_R" value="0.90"/>
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<define name="REF_MAX_R" value="RadOfDeg(400.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.90"/>
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<define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_P" value="RadOfDeg(600)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(220.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PSI_PGAIN" value="-750"/>
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<define name="PSI_DGAIN" value="-370"/>
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<define name="PSI_IGAIN" value="-100"/>
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<define name="THETA_PGAIN" value="-800"/>
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<define name="THETA_DGAIN" value="-240"/>
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<define name="THETA_IGAIN" value="-100"/>
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<define name="PHI_PGAIN" value="-4000"/>
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<define name="PHI_DGAIN" value="-600"/>
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<define name="PHI_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="INS" prefix="INS_">
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<define name="BARO_SENS" value="3.3" integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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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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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="INV_M" value ="0.21"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
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<!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-100"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<!--
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<modules main_freq="512">
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<load name="vehicle_interface_overo_link.xml"/>
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</modules>
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-->
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_1.0">
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<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="heli"/>
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<subsystem name="telemetry" type="transparent"/>
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<define name="SERVO_HZ" value="50"/>
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<define name="SERVO_HZ_SECONDARY" value="50"/>
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<define name="USE_SERVOS_7AND8"/>
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<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
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</target>
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<!--
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="mkk"/>
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</target>
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-->
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<subsystem name="imu" type="aspirin_v1.5"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="stabilization" type="euler"/>
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</firmware>
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</airframe>
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@@ -43,7 +43,9 @@
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#endif
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#define Actuator(_x) actuators_pwm_values[_x]
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#ifndef ChopServo
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#define ChopServo(x,a,b) Chop(x, a, b)
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#endif
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#define ActuatorsCommit actuators_pwm_commit
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int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
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@@ -45,6 +45,7 @@
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#define AP_MODE_HOVER_CLIMB 10
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#define AP_MODE_HOVER_Z_HOLD 11
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#define AP_MODE_NAV 12
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#define AP_MODE_RC_DIRECT 13 // Safety Pilot Direct Commands for helicopter direct control: appropriately chosen as mode "13"
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extern uint8_t autopilot_mode;
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