mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
Gautier Hattenberger
232 lines
8.3 KiB
XML
232 lines
8.3 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="CRRCSIM demo">
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<description>
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Demo for the CRRCSIM simulator with NPS
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</description>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="USE_AIRSPEED"/>
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<target name="nps" board="pc">
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<module name="fdm" type="crrcsim"/>
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<module name="imu" type="nps"/>
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</target>
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<module name="radio_control" type="ppm"/>
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<!-- Communication -->
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<module name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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<module name="control" type="new">
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<define name="USE_GYRO_PITCH_RATE"/>
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</module>
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<!-- Sensors -->
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<module name="gps" type="ublox"/>
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<module name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
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</module>
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<module name="navigation"/>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="1" min="1120" neutral="1540" max="1980"/>
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</servos>
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<commands>
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<axis name="THROTTLE" 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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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="IMU" prefix="IMU_">
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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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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="5"/>
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<define name="GYRO_Q_NEUTRAL" value="17"/>
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<define name="GYRO_R_NEUTRAL" value="-5 "/>
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<define name="GYRO_P_SENS" value="1." integer="16"/>
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<define name="GYRO_Q_SENS" value="1." integer="16"/>
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<define name="GYRO_R_SENS" value="1." integer="16"/>
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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="6"/>
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<define name="ACCEL_Y_NEUTRAL" value="-3"/>
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<define name="ACCEL_Z_NEUTRAL" value="-8"/>
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<define name="ACCEL_X_SENS" value="38.273044006" integer="16"/>
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<define name="ACCEL_Y_SENS" value="39.3799642589" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.6142126316" integer="16"/>
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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="6"/>
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<define name="MAG_Y_NEUTRAL" value="-3"/>
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<define name="MAG_Z_NEUTRAL" value="-8"/>
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<define name="MAG_X_SENS" value="38.273044006" integer="16"/>
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<define name="MAG_Y_SENS" value="39.3799642589" integer="16"/>
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<define name="MAG_Z_SENS" value="39.6142126316" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="8." unit="deg"/>
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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="MilliAmpereOfAdc(_adc)" value="(_adc-100)*26.9"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.1"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="4."/>
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<!-- disable climb rate limiter -->
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<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.005"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.003"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.03"/>
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<define name="AUTO_PITCH_DGAIN" value="0.03"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30"/>
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<define name="AIRSPEED_MIN" value="10"/>
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<!-- groundspeed control -->
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
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<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.6"/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
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<define name="ROLL_RATE_GAIN" value="1000."/>
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<define name="ROLL_IGAIN" value="150."/>
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<define name="PITCH_PGAIN" value="18000."/>
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<define name="PITCH_DGAIN" value="500"/>
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<define name="PITCH_IGAIN" value="250."/>
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<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
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</section>
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.6"/>
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</section>
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<section name="NPS" prefix="NPS_">
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<define name="BYPASS_AHRS" value="TRUE"/>
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<define name="CRRCSIM_COMMAND_ROLL" value="1"/>
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<define name="CRRCSIM_COMMAND_PITCH" value="2"/>
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<define name="CRRCSIM_COMMAND_THROTTLE" value="0"/>
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<define name="CRRCSIM_ROLL_NEUTRAL" value="0." unit="deg"/>
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<define name="CRRCSIM_PITCH_NEUTRAL" value="12." unit="deg"/>
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</section>
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</airframe>
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