mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 08:22:43 +08:00
Gautier Hattenberger
213 lines
7.9 KiB
XML
213 lines
7.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Nucleo144 Test File">
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<firmware name="fixedwing">
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<!--configure name="RTOS_DEBUG" value="1"/-->
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<define name="SERVO_HZ" type="60"/>
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<target name="ap" board="nucleo144_f767zi">
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<module name="radio_control" type="sbus"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</target>
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<target name="nps" board="pc">
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<module name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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<module name="ahrs" type="float_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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</module>
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<module name="ins" type="alt_float"/>
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</target>
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<target name="sim" board="pc">
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<configure name="PERIODIC_FREQUENCY" value="60"/><!-- sim can only handle 60Hz -->
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<module name="radio_control" type="ppm"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</target>
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<module name="telemetry" type="transparent"/>
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<module name="board" type="tawaki">
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<configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
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</module>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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</module>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="air_data">
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<define name="AIR_DATA_BARO_ABS_ID" value="BARO_BMP3_SENDER_ID"/>
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
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</module>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="1" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_RIGHT" no="2" max="1900" neutral="1416" min="1100"/>
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<servo name="AILEVON_LEFT" no="3" max="1100" neutral="1586" min="1900"/>
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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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<define name="AILERON_DIFF" value="0.5"/>
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<define name="COMMAND_ROLL_TRIM" value="0"/>
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<define name="COMMAND_PITCH_TRIM" value="0"/>
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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 > 0 ? AILERON_DIFF : 1) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $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="45." unit="deg"/>
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<define name="MAX_PITCH" value="30." unit="deg"/>
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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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<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="-41"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="24"/>
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<define name="ACCEL_X_SENS" value="2.45166329295" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45072320868" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.44974997157" 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="1984"/>
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<define name="MAG_Y_NEUTRAL" value="-528"/>
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<define name="MAG_Z_NEUTRAL" value="1055"/>
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<define name="MAG_X_SENS" value="0.676644619376" integer="16"/>
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<define name="MAG_Y_SENS" value="0.667566939093" integer="16"/>
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<define name="MAG_Z_SENS" value="0.663687314941" integer="16"/>
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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="INS" prefix="INS_">
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<!--muret-->
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<define name="H_X" value="0.5180"/>
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<define name="H_Y" value="-0.0071"/>
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<define name="H_Z" value="0.8554"/>
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</section>
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<section name="BAT">
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<define name="CALIB_AMP_A" value="0.0045360"/>
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<define name="CALIB_AMP_B" value="2.8136"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!--define name="MilliAmpereOfAdc(_adc)" value="(_adc-620)*4.536"/-->
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." 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="BUNGEE" prefix="BUNGEE_TAKEOFF_">
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<define name="HEIGHT" value="15."/>
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<define name="DISTANCE" value="-10."/>
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<define name="MIN_SPEED" value="2"/>
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<define name="PITCH" value="12" unit="deg"/>
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<define name="THROTTLE" value="1."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.06"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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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="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.011"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.006"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.13"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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<!-- TODO : CTRL_NEW "Climb loop (pitch)" -->
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<define name="AUTO_PITCH_PGAIN" value="0.028"/>
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<define name="AUTO_PITCH_DGAIN" value="0.013"/>
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<define name="AUTO_PITCH_IGAIN" value="0.006"/>
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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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<define name="PITCH_TRIM" value="0." unit="deg"/>
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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="0.58"/>
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<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="10041"/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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<define name="PITCH_PGAIN" value="10672"/>
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<define name="PITCH_DGAIN" value="1343"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_OF_ROLL" value="0.024"/>
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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="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" 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="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_LAUNCHSPEED" value="15"/>
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="JS_AXIS_MODE" value="4"/>
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</section>
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</airframe>
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