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01ac335eb708f7e2154dcd352801eb1f1c920fc0
paparazzi/conf/airframes/examples/bebop2_opticflow.xml
T
Christophe De Wagter 57756b0493 [important fixes] make test all confs (#3100) 
* silent warnings make test_tudelft

* [fix] bugfix

* info instead of warning

* fix optical flow landing

* module that can not stop does not need a stop function

* missing CAMERA

* dangerous define not standard

* simulator not working at 120Hz

* When no if-statement was triggered, this is information and not a warning.

* remove doubles

* point to inexisting telemetry

* firmware settings hardcoded to need 7 actuators

* Merge double file into 1

* untested airframe

* old sim can only handle 60Hz

* non-existing telemetry

* old sim not accepting 120Hz

* Unify info messages

* only 60Hz sim

* survey no height

* Missing camera

* WP further from HOME than MAX_DIST_FROM_HOME

* No more warning when there is no heading feedback by design, only an info message

* clean releases

* no warning on free floating heading in manual controlled AC

* no double firmware block: use dual target instead

* fixedwing: PERIODIC must be multiple of TELEMETRY_FREQ

* missing camera

* error with dual heading feedback

* missing kill switch

* remove prefix

* implicit declaration of function 'scb_reset_system'

* implicit declaration of function 'spektrum_try_bind'

* no dual firmware

* shadowed variable

* wrong header

* typo in fix

* TELEMETRY_PERIOD should be a multiple of PERIODIC

* Missing struct dshot actuators_dshot_values in sim during e7781e7b87

* matek sim does not compile

* bebop misses a camera

* silent compile warnings opticflow

* silent compile warnings

* guido fixed

* double prefix

* changed confs

* new way

* setup_actuators setting up 8 actuators needs 8 actuators

* [openuas] so many comments that the compiler failed.

* [tests] make test_tudelft has 4 coonfs

* [ins_flow] depends on gps (called in initialization of  NED)

* [doc] update

* update naming convention

* an octocopter needs 8 ports please

* pprz_can_init type change

* changed conf
2023-09-25 01:12:39 +02:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_opticflow">
<firmware name="rotorcraft">
<target name="ap" board="bebop">
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/> <!-- we did not include log before -->
</target>
<!-- <target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
<define name="VIDEO_CAPTURE_PATH" value="/home/guido/paparazzi/images/"/>
<define name="FILE_LOGGER_PATH" value="/home/guido/paparazzi/log/"/>
</target>
-->
<define name="USE_SONAR"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<!--
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</module>
<module name="ins" type="extended"/>
-->
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
<module name="ins" type="flow"/>
<!-- Disable use of GPS: -->
<!-- <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
</module> -->
<!-- <module name="geo_mag"/>
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/> -->
<module name="bebop_cam">
<!-- IMPORTANT to limit these or FPS drops significantly -->
<!-- <define name="MT9F002_TARGET_FPS" value="30"/> --> <!-- Front cam -->
<define name="MT9V117_TARGET_FPS" value="90"/> <!-- Bottom cam -->
</module>
<module name="pose_history"/>
<module name="logger_file">
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
<!-- <define name="LOGGER_FILE_PATH" value="/home/guido/paparazzi/log"/> -->
</module>
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
<define name="MAX_HORIZON" value="10"/>
<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
<define name="OPTICFLOW_FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
<define name="OPTICFLOW_FOV_W" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
<define name="OPTICFLOW_FOV_H" value="0.665499265"/> <!-- 2 * arctan(240 / (2*347.22222222)) -->
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
<configure name="OPTICFLOW_MAX_TRACK_CORNERS" value="20"/>
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="0"/>
<define name="OPTICFLOW_FPS" value="0"/>
<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
<define name="OPTICFLOW_SHOW_FLOW" value="1"/>
<!--
<define name="OPTICFLOW_CAMERA2" value="front_camera"/>
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X_CAMERA2" value="0.8"/>
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y_CAMERA2" value="0.85"/>
<configure name="OPTICFLOW_MAX_TRACK_CORNERS_CAMERA2" value="20"/>
<define name="OPTICFLOW_FEATURE_MANAGEMENT_CAMERA2" value="0"/>
<define name="OPTICFLOW_FPS_CAMERA2" value="0"/>
<define name="OPTICFLOW_PYRAMID_LEVEL_CAMERA2" value="0"/>
<define name="OPTICFLOW_SHOW_FLOW_CAMERA2" value="1"/> -->
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
<define name="VIEWVIDEO_FPS" value="5"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
</module>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
</module>
<!-- TODO: perhaps grey because of placement after optical flow? -->
<module name="cv_textons.xml">
<define name="TEXTONS_FPS" value="1"/>
<define name="TEXTONS_CAMERA" value="bottom_camera"/>
<define name="TEXTONS_N_TEXTONS" value="20"/>
<define name="TEXTONS_DICTIONARY_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="optical_flow_landing.xml">
<define name="OFL_COV_SETPOINT" value="-0.075"/>
<define name="OFL_PGAIN" value="0.15"/>
<define name="OFL_IGAIN" value="0.005"/>
<define name="OFL_LP_CONST" value="0.033"/>
<define name="OFL_CLOSE_TO_EDGE" value="0.025"/>
<define name="OFL_IGAIN_ADAPTIVE" value="0.10"/>
<define name="OFL_CONTROL_METHOD" value="0"/> <!-- 1 is adaptive gain -->
<define name="OFL_P_LAND_THRESHOLD" value="0.25"/>
<define name="OFL_COV_LANDING_LIMIT" value="10.0"/>
</module>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="240" />
<define name="OUTPUT_WIDTH" value="240" />
<define name="OFFSET_X" value="0.14" />
<define name="ZOOM" value="3.2"/>
<!--define name="GAIN_GREEN1" value="10.0"/>
<define name="GAIN_GREEN2" value="10.0"/>
<define name="GAIN_BLUE" value="12.5"/>
<define name="GAIN_RED" value="9.0"/-->
<define name="TARGET_EXPOSURE" value="10" />
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="FALSE"/>
</section>
<!-- Magnetometer still needs to be calibrated -->
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="62"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="-35"/>
<define name="ACCEL_X_SENS" value="2.43379017884412" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44705938467942" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.4327471718063234" integer="16"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<!--
<section name="AHRS" prefix="AHRS_">
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>
-->
<!--
<section name="INS" prefix="INS_">
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
<define name="VFF_VZ_R_GPS" value="0.01"/>
<define name="SONAR_MIN_RANGE" value="0.0"/>
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="FALSE"/>
</section>
-->
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<!--define name="JSBSIM_MODEL" value="bebop" type="string"/-->
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="MT9F002_SENSOR_RES_DIVIDER" value="4"/>
</section>
<include href="conf/simulator/gazebo/airframes/bebop.xml"/>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness, can be obtained by switching on "adaptive" in the indi settings -->
<define name="G1_P" value="0.100"/>
<define name="G1_Q" value="0.050"/>
<define name="G1_R" value="0.0075"/>
<define name="G2_R" value="0.236"/>
<!-- Here it is assumed that your removed the damping from your bebop2!
The dampers do not really damp, but cause oscillation. By removing/
fixing them, the bebop2 will fly much better-->
<define name="FILTER_ROLL_RATE" value="FALSE"/>
<define name="FILTER_PITCH_RATE" value="FALSE"/>
<!--define name="FILTER_YAW_RATE" value="FALSE"/-->
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<!-- old?
<define name="FILT_OMEGA" value="20.0"/>
<define name="FILT_ZETA" value="0.7"/>
<define name="FILT_OMEGA_R" value="20.0"/>
<define name="FILT_ZETA_R" value="0.7"/>
-->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.52"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<!-- old?
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.55"/>
<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.48"/>
<define name="ADAPT_MAX_HOVER_THROTTLE" value="0.62"/>
<define name="ADAPT_NOISE_FACTOR" value="0.8"/>
-->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="MAX_BANK" value="35" unit="deg"/>
<define name="PGAIN" value="82"/> <!-- GPS: 120 no GPS: 0-->
<define name="DGAIN" value="102"/> <!-- GPS: 80 no GPS: 302-->
<define name="IGAIN" value="10"/> <!-- GPS: 30 no GPS: 0-->
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0"/>
<define name="DESCEND_VSPEED" value="-0.75"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
</section>
<section name="AUTOPILOT">
<!--
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_NAV"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-->
<!--
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-->
<!--
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-->
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="GCS">
<define name="AC_ICON" value="quadrotor_x"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
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