mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
287 lines
11 KiB
XML
287 lines
11 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
|
|
|
<airframe name="Zagi test">
|
|
|
|
<firmware name="fixedwing">
|
|
|
|
<target name="ap" board="apogee_1.0_chibios">
|
|
<configure name="PERIODIC_FREQUENCY" value="125"/>
|
|
<module name="ins" type="float_invariant">
|
|
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
|
|
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
|
|
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
|
|
<define name="MPL3115_OVERSAMPLING" value="2"/>
|
|
</module>
|
|
</target>
|
|
<target name="sim" board="pc">
|
|
<module name="ahrs" type="float_dcm"/>
|
|
<module name="ins" type="alt_float"/>
|
|
</target>
|
|
<target name="nps" board="pc">
|
|
<configure name="PERIODIC_FREQUENCY" value="125"/>
|
|
<!-- Note NPS needs the ppm type radio_control module -->
|
|
<module name="fdm" type="jsbsim"/>
|
|
<!--module name="ahrs" type="float_dcm"/>
|
|
<module name="ins" type="alt_float"/-->
|
|
<module name="ins" type="float_invariant">
|
|
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
|
|
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
|
|
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
|
|
<define name="MPL3115_OVERSAMPLING" value="2"/>
|
|
<define name="SEND_INVARIANT_FILTER"/>
|
|
</module>
|
|
</target>
|
|
|
|
<module name="radio_control" type="ppm"/>
|
|
|
|
<!-- Communication -->
|
|
<module name="telemetry" type="xbee_api"/>
|
|
|
|
<!-- Actuators are automatically chosen according to board-->
|
|
<module name="imu" type="apogee">
|
|
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
|
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
|
|
<define name="APOGEE_SMPLRT_DIV" value="7"/>
|
|
</module>
|
|
<module name="mag" type="hmc58xx">
|
|
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
|
|
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
|
|
</module>
|
|
<module name="airspeed" type="adc">
|
|
<configure name="ADC_AIRSPEED" value="ADC_1"/>
|
|
<define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
|
|
<define name="AIRSPEED_ADC_BIAS" value="430"/>
|
|
</module>
|
|
<module name="control" type="new"/>
|
|
<module name="navigation"/>
|
|
<!-- Sensors -->
|
|
<module name="gps" type="ublox">
|
|
<configure name="GPS_BAUD" value="B115200"/>
|
|
<define name="GPS_UBX_UCENTER_RATE" value="200"/>
|
|
<define name="USE_GPS_UBX_RXM_RAW"/>
|
|
<define name="USE_GPS_UBX_RXM_SFRB"/>
|
|
<!--define name="LOG_RAW_GPS"/-->
|
|
</module>
|
|
<module name="gps" type="ubx_ucenter"/>
|
|
<!-- logging -->
|
|
<!--module name="tlsf"/>
|
|
<module name="pprzlog"/>
|
|
<module name="logger" type="sd_chibios"/-->
|
|
|
|
<module name="current_sensor">
|
|
<configure name="ADC_CURRENT_SENSOR" value="ADC_2"/>
|
|
</module>
|
|
<!--module name="sys_mon"/-->
|
|
</firmware>
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
|
|
<servo name="AILEVON_RIGHT" no="1" max="1100" neutral="1400" min="1900"/>
|
|
<servo name="AILEVON_LEFT" no="2" max="1900" neutral="1600" min="1100"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="THROTTLE" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<rc_commands>
|
|
<set command="THROTTLE" value="@THROTTLE"/>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
</rc_commands>
|
|
|
|
<section name="MIXER">
|
|
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
|
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
|
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
|
<set servo="MOTOR" value="@THROTTLE"/>
|
|
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
|
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
|
</command_laws>
|
|
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.85"/>
|
|
<define name="MAX_PITCH" value="0.6"/>
|
|
</section>
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
<!-- Calibration Neutral -->
|
|
<define name="GYRO_P_SIGN" value="1"/>
|
|
<define name="GYRO_Q_SIGN" value="-1"/>
|
|
<define name="GYRO_R_SIGN" value="-1"/>
|
|
<define name="GYRO_P_NEUTRAL" value="-50"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="20"/>
|
|
<define name="GYRO_R_NEUTRAL" value="-45"/>
|
|
<!--define name="GYRO_P_NEUTRAL" value="-66"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="25"/>
|
|
<define name="GYRO_R_NEUTRAL" value="55"/-->
|
|
|
|
<define name="ACCEL_X_SIGN" value="1"/>
|
|
<define name="ACCEL_Y_SIGN" value="-1"/>
|
|
<define name="ACCEL_Z_SIGN" value="-1"/>
|
|
<define name="ACCEL_X_NEUTRAL" value="29"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="38"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="117"/>
|
|
<define name="ACCEL_X_SENS" value="2.4633147596" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="2.44625155655" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="2.44963539606" integer="16"/>
|
|
|
|
<!--define name="ACCEL_X_NEUTRAL" value="109"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="13"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="-404"/>
|
|
<define name="ACCEL_X_SENS" value="2.45045342816" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="2.44747844234" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="2.42689216106" integer="16"/-->
|
|
|
|
<define name="MAG_X_SIGN" value="1"/>
|
|
<define name="MAG_Y_SIGN" value="-1"/>
|
|
<define name="MAG_Z_SIGN" value="-1"/>
|
|
<define name="MAG_X_NEUTRAL" value="27"/>
|
|
<define name="MAG_Y_NEUTRAL" value="-241"/>
|
|
<define name="MAG_Z_NEUTRAL" value="139"/>
|
|
<define name="MAG_X_SENS" value="3.89895537059" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="3.96680514301" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="4.60606895547" integer="16"/>
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="0"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="-0.990987803591" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="11.1209962246" unit="deg"/>
|
|
<!--muret-->
|
|
<!--define name="H_X" value="0.5180"/>
|
|
<define name="H_Y" value="-0.0071"/>
|
|
<define name="H_Z" value="0.8554"/-->
|
|
<!--Enac-->
|
|
<!--define name="H_X" value="0.5138"/>
|
|
<define name="H_Y" value="0.00019"/>
|
|
<define name="H_Z" value="0.8578"/-->
|
|
<!--Ramonville-->
|
|
<define name="H_X" value="0.5141"/>
|
|
<define name="H_Y" value="0.0002"/>
|
|
<define name="H_Z" value="0.8576"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
|
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
|
|
<define name="BAT_NB_CELLS" value="3"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
|
<define name="CARROT" value="5." unit="s"/>
|
|
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
|
|
|
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
<!-- outer loop proportional gain -->
|
|
<define name="ALTITUDE_PGAIN" value="0.12"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
|
<!-- disable climb rate limiter -->
|
|
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
|
|
|
|
<!-- Cruise throttle + limits -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
|
|
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
|
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
|
<define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
|
|
<define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>
|
|
|
|
<!-- Climb loop (throttle) -->
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
|
|
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
|
|
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
|
|
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>
|
|
|
|
<!-- Climb loop (pitch) -->
|
|
<define name="AUTO_PITCH_PGAIN" value="0.027"/>
|
|
<define name="AUTO_PITCH_DGAIN" value="0.01"/>
|
|
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
|
|
|
<!-- airspeed control -->
|
|
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
|
|
<define name="AIRSPEED_MAX" value="30" unit="m/s"/>
|
|
<define name="AIRSPEED_MIN" value="10" unit="m/s"/>
|
|
|
|
<!-- groundspeed control -->
|
|
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15" unit="m/s"/>
|
|
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
|
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
|
|
|
<!-- pitch trim -->
|
|
<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
|
|
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
|
|
|
|
<define name="THROTTLE_SLEW" value="0.1"/>
|
|
</section>
|
|
|
|
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
|
<define name="COURSE_PGAIN" value="0.743"/>
|
|
<define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
|
|
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
|
|
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
|
|
|
|
<define name="ROLL_ATTITUDE_GAIN" value="8000."/>
|
|
<define name="ROLL_RATE_GAIN" value="1000."/>
|
|
<define name="ROLL_IGAIN" value="100."/>
|
|
<define name="ROLL_KFFA" value="0"/>
|
|
<define name="ROLL_KFFD" value="0"/>
|
|
|
|
<define name="PITCH_PGAIN" value="17250"/>
|
|
<define name="PITCH_DGAIN" value="500."/>
|
|
<define name="PITCH_IGAIN" value="400"/>
|
|
<define name="PITCH_KFFA" value="0."/>
|
|
<define name="PITCH_KFFD" value="0."/>
|
|
|
|
<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
|
<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
|
|
</section>
|
|
|
|
<section name="NAV">
|
|
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
|
</section>
|
|
|
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
|
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
|
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
|
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
|
<define name="HOME_RADIUS" value="100" unit="m"/>
|
|
</section>
|
|
|
|
<section name="SIMU">
|
|
<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
|
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
|
|
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
|
|
<define name="JS_AXIS_MODE" value="4"/>
|
|
</section>
|
|
|
|
</airframe>
|