mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
232 lines
9.0 KiB
XML
232 lines
9.0 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a mentor Fixedwing with a Pixhawk 4 autopilot -->
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<airframe name="Mentor">
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<description>Mentor</description>
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<firmware name="fixedwing">
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<target name="ap" board="px4fmu_5.0_chibios"/>
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<target name="nps" board="pc">
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<module name="radio_control" type="spektrum"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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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="imu" type="mpu6000"/>
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<module name="gps" type="ublox">
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<!--configure name="GPS_PORT" value="UART1"/-->
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</module>
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<module name="gps" type="ubx_ucenter"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
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</module>
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<module name="ins" type="alt_float"/>
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<module name="mag_ist8310">
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<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
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</module>
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<!--module name="lidar" type="tfmini"/-->
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<!--module name="airspeed" type="ms45xx_i2c">
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<define name="USE_I2C4"/>
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<configure name="MS45XX_I2C_DEV" value="i2c4"/>
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</module-->
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<module name="air_data"/>
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<module name="control" type="energy"/>
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<module name="navigation"/>
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<module name="actuators" type="pwm"/>
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART3"/>
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</module>
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<!-- Logger -->
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<!--module name="tlsf"/>
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<module name="pprzlog"/>
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/-->
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</firmware>
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<servos>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="1" min="1800" neutral="1500" max="1200"/>
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<servo name="AILERON_RIGHT" no="2" min="1200" neutral="1500" max="1800"/>
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<servo name="ELEVATOR" no="3" min="900" neutral="1500" max="2100"/>
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<servo name="RUDDER" no="4" min="1900" neutral="1500" max="1100"/>
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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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<axis name="YAW" 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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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="1.2"/>
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<define name="MAX_PITCH" value="0.8"/>
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</section>
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<command_laws>
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<set servo="AILERON_LEFT" value="@ROLL"/>
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<set servo="AILERON_RIGHT" value="-@ROLL"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW"/>
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</command_laws>
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<section name="TRIM" prefix="COMMAND_">
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<define name="ROLL_TRIM" value="0"/>
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<define name="PITCH_TRIM" value="788."/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
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<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
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<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="10" unit="s"/>
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</section>
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<!-- ************************* SENSORS ************************* -->
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<section name="IMU" prefix="IMU_">
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" 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="14" 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="AHRS" prefix="AHRS_">
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<!-- Local magnetic field, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value="0.85490967783446"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<!-- ************************* GAINS ************************* -->
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.89"/>
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<define name="COURSE_DGAIN" value="0.27"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
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<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
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<define name="PITCH_PGAIN" value="13000"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1300"/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
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<define name="ROLL_RATE_GAIN" value="500."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- power -->
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<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.1"/>
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<define name="AIRSPEED_PGAIN" value="0.0"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<define name="MAX_ACCELERATION" value="2."/>
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<!-- energy -->
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<define name="ENERGY_TOT_PGAIN" value="0.0"/>
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<define name="ENERGY_TOT_IGAIN" value="0.0"/>
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<define name="ENERGY_DIFF_PGAIN" value="0.0"/>
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<define name="ENERGY_DIFF_IGAIN" value="0.0"/>
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<define name="GLIDE_RATIO" value="7."/>
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<!-- auto throttle -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
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<!-- extra's -->
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<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
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<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
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<!-- extra's -->
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<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
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<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
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</section>
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<!-- ************************* MISC ************************* -->
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<section name="BAT">
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<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 12.0877510901 * adc)"/>
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<!--define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/-->
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="MISC">
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<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
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<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
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<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
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<define name="STALL_AIRSPEED" value="10." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
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</section>
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<section name="CATAPULT" prefix="NAV_CATAPULT_">
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<define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
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<define name="HEADING_DELAY" value="3.0" unit="seconds"/>
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<define name="ACCELERATION_THRESHOLD" value="1.75"/>
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<define name="INITIAL_PITCH" value="15.0" unit="deg"/>
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<define name="INITIAL_THROTTLE" value="1.0"/>
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</section>
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<section name="GLS_APPROACH" prefix="APP_">
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<define name="ANGLE" value="5" unit="deg"/>
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<define name="INTERCEPT_AF_SD" value="10" unit="m"/>
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<define name="TARGET_SPEED" value="13" unit="m/s"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
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<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
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<define name="COMMANDS_NB" value="4"/>
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<define name="ACTUATOR_NAMES" value="throttle-cmd-norm, aileron-cmd-norm, elevator-cmd-norm, rudder-cmd-norm" type="string[]"/>
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<define name="JS_AXIS_MODE" value="4"/>
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<define name="BYPASS_AHRS" value="TRUE"/>
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<define name="BYPASS_INS" value="TRUE"/>
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</section>
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</airframe>
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