mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 08:22:43 +08:00
Christophe De Wagter
217 lines
8.0 KiB
XML
217 lines
8.0 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop_opticflow">
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<description>Bebop, hover with optical flow from bottom camera
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</description>
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<firmware name="rotorcraft">
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<autopilot name="rotorcraft_autopilot"/>
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<target name="ap" board="bebop"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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</target>
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<define name="USE_SONAR"/>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/> <!-- Optitrack -->
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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</module>
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<module name="ins" type="hff_extended"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="pose_history"/>
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<module name="bebop_cam"/>
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<module name="cv_opticflow">
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<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
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<define name="MAX_HORIZON" value="10"/>
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
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<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
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</module>
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<module name="video_capture">
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<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
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<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
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</module>
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<!--module name="video_rtp_stream">
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<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
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<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
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</module-->
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<include href="conf/airframes/tudelft/calibrations/bebopTUBB17.xml"/>
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<section name="IMU" prefix="IMU_">
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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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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Delft, The Netherlands 2014 -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<!--define name="USE_HFF"/-->
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</section>
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<section name="RC_SETPOINT" 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="100" 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="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.052669"/>
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<define name="G1_Q" value="0.03326"/>
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<define name="G1_R" value="0.002377"/>
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<define name="G2_R" value="0.136936"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="28.0"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ_P" value="53.9"/>
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<define name="ACT_FREQ_Q" value="53.9"/>
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<define name="ACT_FREQ_R" value="53.9"/>
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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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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="70"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.55"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="REF_MAX_SPEED" value="0.5" unit="m/s"/>
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="0"/>
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<define name="DGAIN" value="80"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="1.0" />
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<define name="DESCEND_VSPEED" value="-1.0" />
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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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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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.3" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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