mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Fixed TU and related configs to new unified conf layout and cleanup files. Use of start.py may come in handy
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Open UAS
Developer
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
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* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
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* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
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* GPS: Piksi http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="heli450">
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0"/>
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<subsystem name="radio_control" type="spektrum">
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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</subsystem>
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<subsystem name="actuators" type="pwm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="imu" type="aspirin_v2.2"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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<modules>
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<load name="geo_mag.xml"/>
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<load name="air_data.xml"/>
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<load name="gps_ubx_ucenter.xml"/>
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<load name="heli_swashplate_mixing.xml"/>
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<load name="heli_throttle_curve.xml"/>
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</modules>
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<servos driver="Pwm">
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="FRONT" no="1" min="2100" neutral="1500" max="900"/>
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<servo name="RIGHTBACK" no="2" min="900" neutral="1500" max="2100"/>
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<servo name="LEFTBACK" no="3" min="2100" neutral="1500" max="900"/>
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<servo name="TAIL" no="4" min="1100" neutral="1450" max="1800"/>
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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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<axis name="FMODE" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THRUST" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FMODE" value="@AUX2"/>
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</rc_commands>
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<section name="MIXING" prefix="SW_MIXING_">
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<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
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<define name="TYPE" value="H120"/>
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_COLL" value="0"/>
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</section>
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<command_laws>
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<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
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<call fun="swashplate_mixing_run(values)"/>
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<set servo="THROTTLE" value="throttle_curve.throttle"/>
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<set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
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<set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
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<set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
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<set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
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</command_laws>
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<heli_curves>
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<curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
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<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
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</heli_curves>
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<section name="MISC">
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<define name="NAV_CLIMB_VSPEED" value="2.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="14"/>
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<define name="MAG_Y_NEUTRAL" value="116"/>
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<define name="MAG_Z_NEUTRAL" value="119"/>
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<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
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<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
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<define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
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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="-90." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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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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<!-- 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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</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="65." unit="deg"/>
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<define name="SP_MAX_THETA" value="65." unit="deg"/>
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<define name="SP_MAX_R" value="250." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" 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="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" 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="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" 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="900"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="900"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="900"/>
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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=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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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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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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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="35" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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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="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_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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