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Merge pull request #1351 from bartremes/master

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test flown survay and bat exeption
This commit is contained in:
Felix Ruess
2015-09-13 23:16:06 +02:00
parent b54e54ea2a 0445100edb
commit fe0298843c
5 changed files with 446 additions and 6 deletions
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conf/airframes/BR/asctec_br.xml
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@@ -0,0 +1,209 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/M 201 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="MAVTec4">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
</firmware>
<modules>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="servo_switch.xml"/>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="1" min="0" neutral="3" max="200"/>
<servo name="BACK" no="2" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="3" min="0" neutral="3" max="200"/>
</servos>
<servos driver="Pwm">
<servo name="DROP" no="4" min="1000" neutral="1500" max="2100"/>
</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_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/>
<define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="ServoSwitchOn()"/>
<define name="DropClose()" value="ServoSwitchOff()"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14"/>
<define name="MAG_Y_NEUTRAL" value="116"/>
<define name="MAG_Z_NEUTRAL" value="119"/>
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
<define name="MAG_Z_SENS" value="5.65287938992" 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="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- 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_">
<!-- 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="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<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="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</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="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<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"/>
</section>
<section name="BAT">
<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="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/airframes/BR/bebop_indi_frog.xml
+3 -3
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@@ -53,7 +53,7 @@
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load>
<load name="digital_cam_video.xml">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load>
<load name="video_exif.xml"/>
<load name="cv_colorfilter.xml"/>
@@ -245,8 +245,8 @@
<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="10.9" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.0" 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>
conf/airframes/BR/conf.xml
+23 -1
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@@ -1,4 +1,15 @@
<conf>
<aircraft
name="Asctec"
ac_id="150"
airframe="airframes/BR/asctec_br.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
gui_color="white"
/>
<aircraft
name="Bebop_INDI"
ac_id="21"
@@ -16,7 +27,7 @@
airframe="airframes/BR/bebop_indi_frog.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
gui_color="#ffff0689b7a1"
@@ -87,4 +98,15 @@
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
<aircraft
name="MAVTec4_Bart"
ac_id="34"
airframe="airframes/BR/mavtec4_br.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
gui_color="blue"
/>
</conf>
conf/airframes/BR/mavtec4_br.xml
+209
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@@ -0,0 +1,209 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="MAVTec4">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_mx_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="hff"/>
</firmware>
<modules>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="servo_switch.xml"/>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="1" min="0" neutral="3" max="200"/>
<servo name="BACK" no="2" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="3" min="0" neutral="3" max="200"/>
</servos>
<servos driver="Pwm">
<servo name="DROP" no="4" min="1000" neutral="1500" max="2100"/>
</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_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/>
<define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="ServoSwitchOn()"/>
<define name="DropClose()" value="ServoSwitchOff()"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14"/>
<define name="MAG_Y_NEUTRAL" value="116"/>
<define name="MAG_Z_NEUTRAL" value="119"/>
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
<define name="MAG_Z_SENS" value="5.65287938992" 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="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- 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_">
<!-- 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="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<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="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</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="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<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"/>
</section>
<section name="BAT">
<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="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml
+2 -2
View File
@@ -12,8 +12,8 @@
<waypoint name="p4" x="13.7" y="-40.7"/>
<waypoint name="CAM" x="19.2" y="-55.4"/>
<waypoint name="TD" x="5.6" y="-10.9"/>
<waypoint name="S1" height="30" x="50.0" y="-49.8"/>
<waypoint name="S2" height="30" x="-19.0" y="11.8"/>
<waypoint name="S1" height="30" x="-22.5" y="0.0"/>
<waypoint name="S2" height="30" x="22.5" y="-70.0"/>
</waypoints>
<includes>