mirror of
https://github.com/paparazzi/paparazzi.git
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Florian Sansou
33ebce980a
Doxygen / build (push) Waiting to run
--------- Co-authored-by: Florian Sansou <florian.sansou@enac.fr>
190 lines
6.7 KiB
XML
190 lines
6.7 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="AIO F7 Test File">
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<firmware name="rotorcraft">
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<configure name="RTOS_DEBUG" value="TRUE" />
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<target name="ap" board="betafpv_aiof7">
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<module name="radio_control" type="sbus"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="USE_GPS"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE" />
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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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<module name="radio_control" type="ppm"/>
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</target>
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<module name="telemetry" type="xbee_api">
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<configure name="MODEM_PORT" value="UART2" />
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</module>
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<module name="actuators" type="dshot">
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<define name="DSHOT_SPEED" value="600"/>
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</module>
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<module name="board" type="betafpv_aiof7">
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</module>
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<module name="gps" type="optitrack"/>
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<module name="stabilization" type="indi"/>
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<module name="guidance" type="indi"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="gps_passthrough"/>
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<module name="sys_mon"></module>
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<module name="shell">
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<configure name="SHELL_PORT" value="usb_serial_debug"/>
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</module>
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</firmware>
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<servos driver="DShot">
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<servo name="BR" no="1" min="0" neutral="100" max="2000"/>
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<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
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<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
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<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<command_laws>
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<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
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<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
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<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
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<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="IMU_ACCEL_CALIB" type="array">
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<field type="struct">
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<field name="abi_id" value="24"/>
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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>
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<field name="neutral" value="-9,1,75" type="int[]"/>
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<field name="scale" value="{{23855,47132,18064},{9728,19217,7339}}"/>
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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="0." 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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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="60" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<define name="NUM_ACT" value="4"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="120"/>
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<define name="REF_ERR_Q" value="130"/>
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<define name="REF_ERR_R" value="120"/>
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<define name="REF_RATE_P" value="15"/>
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<define name="REF_RATE_Q" value="15"/>
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<define name="REF_RATE_R" value="10"/>
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<define name="MAX_R" value="60" unit="deg/s"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="4.0"/>
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<define name="FILT_CUTOFF_R" value="4.0"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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<!-- Full INDI -->
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<!-- control effectiveness -->
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<define name="G1" type="matrix">
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<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
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<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
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<field value="{ -3.0, 3.0, -3.0, 3.0 }"/>
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<field value="{ -1.0, -1.0, -1.0, -1.0 }"/>
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</define>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{ -80, 80, -80, 80.0 }"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
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<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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<define name="ALLOCATION_PSEUDO_INVERSE" value="TRUE"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
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<define name="REF_MIN_ZD" value="-2."/>
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<define name="REF_MAX_ZD" value=" 2."/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="30" unit="deg"/>
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<define name="REF_MAX_SPEED" value="0.5"/>
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<define name="REF_MAX_ACCEL" value="2."/>
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</section>
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<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
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<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
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<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
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<define name="RC_DEBUG" value="FALSE"/>
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<define name="SPEED_GAINZ" value="2.5"/>
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</section>
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<section name="NAV">
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<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
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<define name="NAV_CLIMB_VSPEED" value="0.8"/>
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<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
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</section>
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<section name="BAT">
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<define name="CRITIC_BAT_LEVEL" value="7.45" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="7.37" unit="V"/>
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<define name="BAT_NB_CELLS" value="2"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-0.5"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="COMMANDS_NB" value="4"/>
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<define name="NO_MOTOR_MIXING" value="TRUE"/>
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</section>
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</airframe>
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