mirror of
https://github.com/paparazzi/paparazzi.git
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jpgdubois
284 lines
14 KiB
XML
284 lines
14 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Cyclone2">
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<description>
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Cyclone 2 airframe
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+ Model: Cyclone 2 is a tiltbody wing with a ~1m wingspan
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+ Autopilot: Cube orange
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+ Actuators: Feetech sts3032
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<!-- + GNSS Ublox F9P GNSS with RTK -->
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+ MAG ΡΜ3100
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+ ESC: KISS ECSs
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+ RCRX: ELRS RP1
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+ AIRSPEED: MS4525DO
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+ TELEMETRY: RFDesign 868X
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+ CURRENT: Standard FC Power sensor
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+ RANGER: None
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+ MOTOR: 2 x 1250KV Outrunner Brushless
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+ PROP: 2 blade thin electric 8 x 6
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+ BAT: Li-Po 4S1P 2300mAh
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WARNING: Current PPRZ airspeed sensor driver has a bug,
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static and dynamic pressure defaults are swapped,
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so the airspeed is negative if you dont change your pitot leads
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NOTES:
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+ Using oneloop ANDI
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+ Servos powered via external BEC (4s to 9 V)
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+ Flightcontroller powered via FC Powerboard
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+ Telemetry powerd via BEC of FC Powerboard
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</description>
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<firmware name="rotorcraft">
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<autopilot name="jpg_cyclone_andi.xml"/>
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<configure name="NAVIGATION_FREQUENCY" value="50"/>
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<target name="ap" board="cube_orange">
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<module name="radio_control" type="sbus">
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<define name="AP_MODE_SWITCH" value="RADIO_AUX3"/>
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</module>
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<module name="sys_mon"/>
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<module name="flight_recorder"/>
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<!-- EKF EKF2 configure inputs -->
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<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
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<define name="INS_EKF2_IMU_ID" value="IMU_CUBE1_ID"/>
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<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE1_ID"/>
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<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE1_ID"/>
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<define name="INS_EKF2_OPTITRACK" value="TRUE"/> <!-- Not sure if it is actually using Optitrack here. Flies just fine with Optitrack Z-up instead of Y-up-->
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim">
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<define name="NPS_JSBSIM_MODEL" value="cyclone" type="string"/>
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<define name="NPS_SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<define name="NPS_USE_COMMANDS" value="TRUE"/>
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<define name="NPS_NO_MOTOR_MIXING" value="TRUE"/>
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</module>
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<module name="radio_control" type="datalink">
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<define name="AP_MODE_SWITCH" value="RADIO_AUX7"/>
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</module>
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</target>
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<module name="imu" type="cube"/>
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<module name="air_data"/>
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<module name="ins" type="ekf2">
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</module>
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<module name="actuators" type="t4"/>
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<module name="actuators_t4_uart">
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<configure name="ACTUATORS_T4_PORT" value="UART8"/>
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<configure name="ACTUATORS_T4_BAUD" value="B921600"/>
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</module>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B115200"/>
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</module>
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<module name="gps" type="datalink"/>
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<!-- GPS has been removed, dont use this without reinstalling gps-->
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<!-- <module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B460800"/>
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</module> -->
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<module name="mag" type="rm3100">
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<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/>
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<define name="MODULE_RM3100_SYNC_SEND" value="TRUE"/>
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<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
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<!-- 0:X, 1:Y, 2:Z; -->
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<define name="RM3100_CHAN_X" value="1"/>
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<define name="RM3100_CHAN_Y" value="0"/>
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<define name="RM3100_CHAN_Z" value="2"/>
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<define name="RM3100_CHAN_X_SIGN" value="+"/>
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<define name="RM3100_CHAN_Y_SIGN" value="+"/>
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<define name="RM3100_CHAN_Z_SIGN" value="-"/>
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<!--TODO: Set correct angles-->
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<!-- <define name="RM3100_MAG_TO_IMU_PHI" value="RadOfDeg\(0.0\)"/>
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<define name="RM3100_MAG_TO_IMU_THETA" value="RadOfDeg\(0.0\)"/>
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<define name="RM3100_MAG_TO_IMU_PSI" value="RadOfDeg\(0.0\)"/> -->
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</module>
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<!-- Control -->
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<module name="stabilization" type="andi">
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<define name="WLS_N_U_MAX" value="4" />
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<define name="WLS_N_V_MAX" value="4" />
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</module>
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<module name="guidance" type="indi_hybrid_tailsitter">
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="NAV_HYBRID_POS_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.5"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.8"/>
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<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
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<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
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<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/>
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<!--not used-->
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="3000"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
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<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="15.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="23.6"/>
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<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
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</module>
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<!-- <module name="nav" type="hybrid">
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<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
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<define name="NAV_NO_CARROT" value="TRUE"/>
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</module> -->
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<module name="wls">
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<define name="WLS_N_U_MAX" value = "4"/>
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<define name="WLS_N_V_MAX" value = "4"/>
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</module>
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</firmware>
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<servos driver="T4">
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<servo name="S_ELEVON_LEFT" no="1" min="-5000" neutral="0" max="5000"/> <!-- [50.0 deg]-->
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<servo name="S_ELEVON_RIGHT" no="6" min="5000" neutral="0" max="-5000"/> <!-- [50.0 deg]-->
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<servo name="S_MOTOR_LEFT" no="13" min="0" neutral="0" max="1999"/> <!-- neutral is value when motor is not spinning, must be 0 -->
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<servo name="S_MOTOR_RIGHT" no="14" min="0" neutral="0" max="1999"/>
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</servos>
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<commands>
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<!-- Real actuators commands -->
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<axis name="ELEVON_LEFT" group="REAL" failsafe_value="0"/>
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<axis name="ELEVON_RIGHT" group="REAL" failsafe_value="0"/>
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<axis name="MOTOR_LEFT" group="REAL" failsafe_value="0"/>
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<axis name="MOTOR_RIGHT" group="REAL" failsafe_value="0"/>
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<!-- Legacy commands-->
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<axis name="YAW" group="OTHER" failsafe_value="0"/>
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<axis name="THRUST" group="OTHER" failsafe_value="0"/>
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</commands>
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<!-- Safety critical kill switch implementation, DO NOT REMOVE -->
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<command_laws>
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<set servo="S_ELEVON_LEFT" value="autopilot_get_motors_on()? commands[COMMAND_ELEVON_LEFT] : 0"/>
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<set servo="S_ELEVON_RIGHT" value="autopilot_get_motors_on()? commands[COMMAND_ELEVON_RIGHT] : 0"/>
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<set servo="S_MOTOR_LEFT" value="autopilot_get_motors_on()? commands[COMMAND_MOTOR_LEFT] : -MAX_PPRZ"/>
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<set servo="S_MOTOR_RIGHT" value="autopilot_get_motors_on()? commands[COMMAND_MOTOR_RIGHT] : -MAX_PPRZ"/>
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</command_laws>
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<section name="MISC">
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<define name="TAILSITTER" value="TRUE"/>
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<define name="USE_AIRSPEED" value="FALSE"/>
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<define name="STABILIZATION_ATTITUDE_SP_MAX_PHI" value="45." unit="deg" />
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<define name="STABILIZATION_ATTITUDE_SP_MAX_THETA" value="45." unit="deg" />
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<define name="STABILIZATION_ATTITUDE_SP_MAX_R" value="90." unit="deg/s"/>
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<define name="STABILIZATION_ATTITUDE_DEADBAND_R" value="200" />
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500" />
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<define name="AUTOPILOT_IN_FLIGHT_MIN_SPEED" value="0" />
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<define name="AUTOPILOT_IN_FLIGHT_MIN_ACCEL" value="0" />
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</section>
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<section name="STABILIZATION_ANDI" prefix="STABILIZATION_ANDI_" >
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<define name="SCHEDULE_EFF" value="TRUE"/>
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<define name="USE_STATE_DYNAMICS" value="TRUE"/>
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<define name="RELAX_OBM" value="1.0f"/>
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<!-- | EL | ER | ML^2 | MR^2 | -->
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<define name="ACT_IS_SERVO" value="{ 1, 1, 0, 0}"/>
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<define name="ACT_DYNAMICS" value="{ 20.0f, 20.0f, 35.0f, 35.0f}"/> <!-- [rad/s]-->
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<define name="ACT_DELAY" value="{ 0, 0, 0, 0}"/> <!-- [rad/s]-->
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<define name="ACT_USE_MEAS" value="{ true, true, true, true}"/>
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<define name="ACT_MIN" value="{ -0.87f, -0.87f, 40000.0f, 40000.0f}"/> <!-- [ rad | (rad/s)^2]-->
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<define name="ACT_MAX" value="{ 0.87f, 0.87f, 3534400.0f, 3534400.0f}"/> <!-- [ rad | (rad/s)^2]-->
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<define name="ACT_RATE_MIN" value="{ -10.0f, -10.0f, -90000000.0f, -90000000.0f}"/> <!-- [rad/s | (rad/s)^2/s]-->
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<define name="ACT_RATE_MAX" value="{ 10.0f, 10.0f, 90000000.0f, 90000000.0f}"/> <!-- [rad/s | (rad/s)^2/s]-->
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<define name="ACT_PREF" value="{ 0.00f, 0.00f, 705600.0f, 705600.0f}"/> <!-- [ rad | (rad/s)^2]--> <!-- Used as operating point when not scheduling-->
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<define name="WLS_WU" value="{ 0.0f, 0.0f, 0.0f, 0.0f}"/>
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<!-- | P | Q | R | Tau | -->
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<define name="WLS_WV" value="{ 1000.0f, 100.0f, 1.0f, 10.0f}"/> <!-- Roll is more important than pitch, we do not want to sacrefice roll control in case failing to reach a certain pitch command -->
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<!-- | P | Q | R | -->
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<define name="RC_RATE_MAX" value="{ 5.0f, 5.0f, 5.0f}"/> <!-- [rad/s]-->
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<define name="THRUST_MIN" value="0.6f" /> <!-- [m/s^2]-->
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<define name="THRUST_MAX" value="52.0f" /> <!-- [m/s^2]-->
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<define name="CUTOFF_FREQ_ACCEL" value=" 20.0f"/> <!-- [rad/s]-->
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<define name="CUTOFF_FREQ_VEL" value=" 80.0f"/> <!-- [rad/s]-->
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<define name="CUTOFF_FREQ_OMEGA_DOT" value=" 20.0f"/> <!-- [rad/s]-->
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<define name="CUTOFF_FREQ_OMEGA" value=" 80.0f"/> <!-- [rad/s]-->
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</section>
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<section name="BAT">
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<define name="MAX_BAT_CAPACITY" value="2300" unit="mAh"/>
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<!--<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>-->
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<define name="VoltageOfAdc(_adc)" value="(0.000611456 * _adc)"/>
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<define name="MILLIAMP_AT_IDLE_THROTTLE" value="280" unit="mA"/>
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
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<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="14.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="13.5" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="13.2" unit="V"/>
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<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="5"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="true"/>
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<field name="scale" value="true"/>
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<!-- <field name="rotation" value="true"/> -->
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</field>
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<field name="neutral" type="int[]" value="-2044,169,119"/>
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<field name="scale" type="int[][]" value="{{5666,15649,36949},{9069,27419,63039}}"/>
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<!-- <field name="body_to_sensor" value="{{0, 16384,0, 0, 0, -16384,-16384, 0, 0}}"/> -->
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</field>
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</define>
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<!-- <define name="ACCEL_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="20"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="false"/>
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<field name="scale" value="false"/>
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<field name="rotation" value="true"/>
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</field>
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<field name="body_to_sensor" value="{{0, 0, -16384, 0, 16384, 0, 0, 16384, 0}}"/>
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</field>
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</define> -->
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<!-- Gyrometer calibration (NOT DONE!) -->
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<!-- <define name="GYRO_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="20"/>
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<field name="calibrated" type="struct">
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<field name="neutral" value="false"/>
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<field name="scale" value="false"/>
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<field name="rotation" value="true"/>
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</field>
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<field name="body_to_sensor" value="{{0, 0, -16384, 0, 16384, 0, 0, 16384, 0}}"/>
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</field>
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</define> -->
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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="90." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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</airframe>
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