mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Antoine Drouin
2580e321cd
was <define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/> is now <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
284 lines
9.5 KiB
XML
284 lines
9.5 KiB
XML
<airframe name="booz2_a5">
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<servos min="0" neutral="0" max="0xff">
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<servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
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<servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
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<servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
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<servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
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<servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
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</servos>
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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="0"/>
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</commands>
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="6"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2"/>
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<define name="MAX_MOTOR" value="210"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="NB_MOTOR" value="6"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
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<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
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<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_CHAN" value="1"/>
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<define name="GYRO_Q_CHAN" value="0"/>
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<define name="GYRO_R_CHAN" value="2"/>
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<define name="GYRO_P_NEUTRAL" value="31489"/>
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<define name="GYRO_Q_NEUTRAL" value="31814"/>
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<define name="GYRO_R_NEUTRAL" value="32752"/>
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<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
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<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
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<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="3"/>
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<define name="ACCEL_Z_CHAN" value="4"/>
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<define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
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<define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32877"/>
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<define name="ACCEL_Y_NEUTRAL" value="32415"/>
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<define name="ACCEL_Z_NEUTRAL" value="32612"/>
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<define name="MAG_X_CHAN" value="0"/>
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<define name="MAG_Y_CHAN" value="1"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_SENS" value="5.00200577" integer="16"/>
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<define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
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<define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-47"/>
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<define name="MAG_Y_NEUTRAL" value="24"/>
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<define name="MAG_Z_NEUTRAL" value="28"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-400"/>
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<define name="PHI_DGAIN" value="-300"/>
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<define name="PHI_IGAIN" value="-100"/>
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<define name="THETA_PGAIN" value="-400"/>
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<define name="THETA_DGAIN" value="-300"/>
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<define name="THETA_IGAIN" value="-100"/>
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<define name="PSI_PGAIN" value="-380"/>
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<define name="PSI_DGAIN" value="-320"/>
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<define name="PSI_IGAIN" value="-75"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="BOOZ_INS_">
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<define name="BARO_SENS" value="15." integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="-500"/>
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<define name="HOVER_KD" value="-200"/>
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<define name="HOVER_KI" value="-100"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="INV_M" value ="0.2"/>
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</section>
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<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
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<define name="PGAIN" value="-100"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.48" integer="16"/>
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</section>
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<section name="MISC">
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<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
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</section>
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<section name="AUTOPILOT">
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<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
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<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
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<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<makefile>
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USER =
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HOST = overo
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TARGET_DIR = ~
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SRC_FMS=fms
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
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FLASH_MODE = IAP
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lpc_test_spi.ARCHDIR = arm7
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lpc_test_spi.ARCH = arm7tdmi
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lpc_test_spi.TARGET = lpc_test_spi
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lpc_test_spi.TARGETDIR = lpc_test_spi
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lpc_test_spi.srcs = $(SRC_FMS)/lpc_test_spi.c
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lpc_test_spi.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
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lpc_test_spi.CFLAGS += -DPERIPHERALS_AUTO_INIT
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lpc_test_spi.CFLAGS += -DUSE_LED
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lpc_test_spi.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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lpc_test_spi.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
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#
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# test BUSS BLDC
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#
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lpc_test_motors.ARCHDIR = arm7
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lpc_test_motors.ARCH = arm7tdmi
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lpc_test_motors.TARGET = lpc_test_motors
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lpc_test_motors.TARGETDIR = lpc_test_motors
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lpc_test_motors.CFLAGS += -DPERIPHERALS_AUTO_INIT
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lpc_test_motors.CFLAGS += -DBOARD_CONFIG=\"boards/booz2_v1_0.h\" -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
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lpc_test_motors.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc_hexa.c
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lpc_test_motors.CFLAGS += -DUSE_LED
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lpc_test_motors.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
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lpc_test_motors.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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lpc_test_motors.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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lpc_test_motors.srcs += $(SRC_ARCH)/uart_hw.c
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lpc_test_motors.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
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lpc_test_motors.srcs += downlink.c pprz_transport.c
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lpc_test_motors.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
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lpc_test_motors.srcs += $(SRC_BOOZ)/booz2_datalink.c
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lpc_test_motors.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
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lpc_test_motors.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
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#
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#
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#
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overo_test_telemetry.ARCHDIR = omap
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overo_test_telemetry.srcs=$(SRC_FMS)/overo_test_telemetry.c
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overo_test_telemetry.CFLAGS += -I$(GLIB_INC)
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overo_test_telemetry.LDFLAGS += -L$(GLIB_LIB) -lglib-2.0
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#
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#
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#
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overo_test_spi.ARCHDIR = omap
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overo_test_spi.srcs=$(SRC_FMS)/overo_test_spi.c
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#ap.ARCHDIR = $(ARCHI)
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#ap.LDFLAGS = -lm -levent -lrt
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#ap.CFLAGS += -I$(SRC_FMS)
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#ap.srcs=$(SRC_FMS)/fms_test_datalink.c
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#ap.CFLAGS += -DDOWNLINK
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#ap.CFLAGS += -DDOWNLINK_TRANSPORT=UdpTransport
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#ap.srcs += $(SRC_FMS)/fms_network.c
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#ap.srcs += $(SRC_FMS)/udp_transport.c
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#ap.srcs += downlink.c
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ARCH=lpc21
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BOARD_CFG = \"boards/booz2_v1_0.h\"
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# prevents motors from ever starting
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#ap.CFLAGS += -DKILL_MOTORS
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
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include $(CFG_BOOZ)/booz2_autopilot.makefile
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include $(CFG_BOOZ)/booz2_test_progs.makefile
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ap.CFLAGS += -DMODEM_BAUD=B57600
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include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
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include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
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include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
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#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
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include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
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</makefile>
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</airframe>
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