mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Ewoud Smeur
351d90f86e
* file logger namechange to logger file * airframe file updates with namechange
323 lines
13 KiB
XML
323 lines
13 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
|
|
|
<!--
|
|
Parrot Disco
|
|
-->
|
|
|
|
<airframe name="Disco">
|
|
<firmware name="fixedwing">
|
|
|
|
<!-- ************************************************
|
|
AUTOPILOT TARGET
|
|
************************************************ -->
|
|
|
|
<target name="ap" board="disco">
|
|
<module name="radio_control" type="sbus"/>
|
|
<module name="airspeed" type="ms45xx_i2c">
|
|
<define name="MS45XX_LOWPASS_TAU" value="0.25"/>
|
|
</module>
|
|
|
|
<module name="logger_file">
|
|
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000/log"/>
|
|
</module>
|
|
|
|
<!-- Type of telemetry -->
|
|
<module name="telemetry" type="transparent_udp"/>
|
|
|
|
<!-- INS -->
|
|
<module name="ins" type="alt_float"/>
|
|
</target>
|
|
|
|
<!-- ************************************************
|
|
SIMULATION TARGET
|
|
************************************************ -->
|
|
|
|
<target name="sim" board="pc">
|
|
<module name="telemetry" type="transparent_udp"/>
|
|
<module name="radio_control" type="ppm"/>
|
|
<define name="AIRSPEED_ADC_SCALE" value="1"/>
|
|
<define name="AIRSPEED_ADC_BIAS" value="1"/>
|
|
<module name="airspeed" type="adc"/>
|
|
<module name="ins" type="alt_float"/>
|
|
</target>
|
|
|
|
<!-- ************************************************
|
|
ALL TARGETS
|
|
************************************************ -->
|
|
<!-- Airspeed definitions -->
|
|
<define name="USE_AIRSPEED" value="1"/>
|
|
<define name="STALL_AIRSPEED" value="8"/>
|
|
|
|
<module name="air_data"/>
|
|
|
|
<define name="USE_MAGNETOMETER_ONGROUND" value="TRUE"/> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good -->
|
|
<configure name="USE_MAGNETOMETER" value="TRUE"/> <!-- Make sure is callibrated if set to TRUE -->
|
|
|
|
<!-- Periodic frequency of default modules -->
|
|
<configure name="PERIODIC_FREQUENCY" value="120"/>
|
|
|
|
<!-- Vehicle -->
|
|
<module name="imu" type="disco"/>
|
|
<module name="ahrs" type="float_dcm">
|
|
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
|
<configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/>
|
|
</module>
|
|
<module name="actuators" type="disco"/>
|
|
|
|
|
|
<!-- Navigation -->
|
|
<define name="USE_GPS_UBX_RTCM" value="TRUE"/> <!-- required so that RTCM messages are decoded in /modules/gps/gps_ubx.c -->
|
|
<define name="GPS_UBX_UCENTER_RATE" value="0x00FA"/> <!-- Ucenter rate for RTCM messsage.. In milliseconds. 0x00FA = 250ms = 4Hz-->
|
|
<module name="gps" type="ublox"/>
|
|
<module name="gps" type="ubx_ucenter"/>
|
|
<module name="navigation"/>
|
|
|
|
<!-- Control Algorithms -->
|
|
<module name="control" type="energy"/>
|
|
</firmware>
|
|
|
|
|
|
<!-- ************************************************
|
|
SERVO DEFINITIONS
|
|
************************************************ -->
|
|
<servos>
|
|
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/>
|
|
<servo name="AILEVON_RIGHT" no="6" min="1900" neutral="1450" max="1000"/> <!-- min is downward deflection-->
|
|
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1400" max="1900"/> <!-- max is upward deflection-->
|
|
</servos>
|
|
|
|
<!-- ************************************************
|
|
SERVO COMMANDS
|
|
************************************************ -->
|
|
<commands>
|
|
<!-- These are the failsafe attitude commands that the aircraft will keep in case GPS is lost for example -->
|
|
<axis name="THROTTLE" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<!-- ************************************************
|
|
RC COMMANDS
|
|
************************************************ -->
|
|
<rc_commands>
|
|
<set command="THROTTLE" value="@THROTTLE"/>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
</rc_commands>
|
|
|
|
<!-- ************************************************
|
|
SERVO MIXER
|
|
************************************************ -->
|
|
<section name="MIXER">
|
|
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
|
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
COMMAND TUNING
|
|
************************************************ -->
|
|
<command_laws>
|
|
<set servo="MOTOR" value="($th_hold? @THROTTLE : RadioControlValues(RADIO_THROTTLE))"/>
|
|
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
|
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
|
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
|
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
|
</command_laws>
|
|
|
|
<!-- ************************************************
|
|
AUTO1 DEFINITIONS
|
|
************************************************ -->
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.85"/>
|
|
<define name="MAX_PITCH" value="0.6"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
IMU DEFINITIONS
|
|
************************************************ -->
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<!-- Calibration performed on 29 of November 2019 -->
|
|
<!-- for Disco PH-4HM labelled Chris -->
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="-241"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="-8"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="-403"/>
|
|
<define name="ACCEL_X_SENS" value="2.449574992839191" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="2.4506198003165993" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="2.4050357128352857" integer="16"/>
|
|
|
|
<define name="MAG_X_NEUTRAL" value="-175"/>
|
|
<define name="MAG_Y_NEUTRAL" value="-76"/>
|
|
<define name="MAG_Z_NEUTRAL" value="-869"/>
|
|
<define name="MAG_X_SENS" value="6.999010552417837" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="6.941504898357588" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="7.41620875250963" integer="16"/>
|
|
|
|
<!-- End of 29 0f November 2019 calibration -->
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="0"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0.02"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0"/>
|
|
|
|
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
AHRS DEFINITIONS
|
|
************************************************ -->
|
|
|
|
<section name="AHRS" prefix="AHRS_">
|
|
<!-- Values for Valkenburg Zuid Holland NL
|
|
<define name="H_X" value="0.387264"/>
|
|
<define name="H_Y" value=" 0.0099463"/>
|
|
<define name="H_Z" value="0.921915"/> -->
|
|
|
|
<!-- Values for Den Helder NL -->
|
|
<define name="H_X" value="0.377011"/>
|
|
<define name="H_Y" value="0.0102128"/>
|
|
<define name="H_Z" value="0.926152"/>
|
|
|
|
<!-- Values for Mondorf-les-Bains LUX
|
|
<define name="H_X" value="0.420013"/>
|
|
<define name="H_Y" value=" 0.0157474"/>
|
|
<define name="H_Z" value="0.907381"/> -->
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
DEFINITIONS
|
|
************************************************ -->
|
|
<section name="INS" prefix="INS_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
BATTERY DEFINITIONS
|
|
************************************************ -->
|
|
<section name="BAT">
|
|
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/> <!-- Max bat level only used to scale display in GCS -->
|
|
<define name="LOW_BAT_LEVEL" value="10" unit="V"/> <!-- Used to display battery warning in GCS -->
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- Warning: Kill mode is engaged in case this battery level is reached -->
|
|
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
MISCELLANEOUS DEFINITIONS
|
|
************************************************ -->
|
|
<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)"/> <!-- Kill mode is engaged in case this distance is reached. -->
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
|
|
|
<define name="APP_ANGLE" value="8" unit="deg"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
VERTICAL CONTROL DEFINITIONS
|
|
************************************************ -->
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
<define name="AUTO_AIRSPEED_SETPOINT" value="14.0"/>
|
|
|
|
<define name="ALTITUDE_PGAIN" value="0.15"/>
|
|
<define name="AIRSPEED_PGAIN" value="0.19"/>
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5"/>
|
|
|
|
<define name="ALTITUDE_MAX_CLIMB" value="3.0"/>
|
|
<define name="GLIDE_RATIO" value="7.0"/>
|
|
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
|
|
|
|
<define name="ENERGY_TOT_PGAIN" value="0.0"/>
|
|
<define name="ENERGY_TOT_IGAIN" value="0.0"/>
|
|
<define name="ENERGY_DIFF_PGAIN" value="0.0"/>
|
|
<define name="ENERGY_DIFF_IGAIN" value="0.0"/>
|
|
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.39" unit="%/(m/s)"/>
|
|
|
|
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.12"/>
|
|
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.004"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
HORIZONTAL CONTROL DEFINITIONS
|
|
************************************************ -->
|
|
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
|
<define name="COURSE_PGAIN" value="1.25"/><!-- TODO: Tune values -->
|
|
<define name="COURSE_DGAIN" value="0.2"/><!-- TODO: Tune values -->
|
|
<define name="COURSE_TAU" value="0.5"/><!-- TODO: Tune values -->
|
|
<define name="COURSE_PRE_BANK_CORRECTION" value="0.98"/>
|
|
|
|
<define name="ROLL_MAX_SETPOINT" value="75" unit="deg"/>
|
|
<define name="PITCH_MAX_SETPOINT" value="60" unit="deg"/>
|
|
<define name="PITCH_MIN_SETPOINT" value="-60" unit="deg"/>
|
|
|
|
<define name="PITCH_PGAIN" value="9000"/>
|
|
<define name="PITCH_DGAIN" value="0"/>
|
|
<define name="PITCH_IGAIN" value="30"/>
|
|
<define name="PITCH_KFFA" value="10."/>
|
|
<define name="PITCH_KFFD" value="0."/>
|
|
|
|
<define name="ELEVATOR_OF_ROLL" value="500" unit="PPRZ_MAX"/>
|
|
<define name="ROLL_SLEW" value="0.5"/><!-- TODO: Determine best value-->
|
|
<define name="ROLL_ATTITUDE_GAIN" value="15000."/>
|
|
<define name="ROLL_RATE_GAIN" value="972"/>
|
|
<define name="ROLL_IGAIN" value="100."/>
|
|
<define name="ROLL_KFFA" value="100"/>
|
|
<define name="ROLL_KFFD" value="0"/>
|
|
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/><!-- TODO: : ?-->
|
|
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
NAVIGATIONAL DEFINITIONS
|
|
************************************************ -->
|
|
<section name="NAV">
|
|
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
FAILSAFE DEFINITIONS
|
|
************************************************ -->
|
|
<!-- These are the definition are engaged in case a failsafe is triggered (like GPS lost for example) -->
|
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
|
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
|
<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
|
<define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
|
|
<define name="HOME_RADIUS" value="100" unit="m"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
AGGRESSIVE DEFINITIONS
|
|
************************************************ -->
|
|
<section name="AGGRESSIVE" prefix="AGR_">
|
|
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
|
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
|
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
|
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
|
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
|
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
|
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
|
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
|
</section>
|
|
|
|
<!-- ************************************************
|
|
SIMULATION DEFINITIONS
|
|
************************************************ -->
|
|
<section name="SIMU">
|
|
<define name="ROLL_RESPONSE_FACTOR" value="20"/>
|
|
<define name="JSBSIM_MODEL" value=""Malolo1""/>
|
|
<!--define name="JSBSIM_INIT" value=""Malolo1-IC""/-->
|
|
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
|
|
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
|
|
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
|
|
</section>
|
|
|
|
</airframe>
|