mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
370 lines
14 KiB
XML
370 lines
14 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- ST Model Discovery (http://www.sheng-teng.com/)
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TWOG1 (http://wiki.paparazziuav.org/wiki/TWOG/v1.0)
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* uBlox LEA5H and Sarantel helix GPS antenna
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-->
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<airframe name="Discovery">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0">
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<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
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<configure name="AHRS_ALIGNER_LED" value="2"/>
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<configure name="SYS_TIME_LED" value="1"/>
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<configure name="GPS_LED" value="none"/>
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<!-- for airspeed sensor
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<define name="USE_I2C0"/>
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-->
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</target>
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<target name="sim" board="pc"/>
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<define name="LOITER_TRIM"/>
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<define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
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<define name="USE_GYRO_PITCH_RATE"/>
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<define name="WIND_INFO"/>
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<!-- Communication -->
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<module name="telemetry" type="transparent"/>
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<module name="radio_control" type="ppm"/>
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<!--module name="settings" type="rc"/-->
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<!-- Control -->
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0"/>
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<define name="AHRS_USE_GPS_HEADING" value="1"/>
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</module>
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<module name="ins" type="alt_float"/>
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<!-- Sensors -->
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<module name="imu" type="b2_v1.0">
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<configure name="NO_MAG" value="1"/>
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</module>
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<module name="gps" type="ublox"/>
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<module name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</module>
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<module name="switch" type="servo"/>
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<module name="sys_mon"/>
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
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</module>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel" board="twog_1.0">
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<configure name="TUNNEL_PORT" value="UART1"/>
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</target>
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</firmware>
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<firmware name="test_progs">
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<configure name="SYS_TIME_LED" value="1"/>
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<target name="test_gpio" board="twog_1.0"/>
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<target name="test_sys_time_timer" board="twog_1.0"/>
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<target name="test_telemetry" board="twog_1.0"/>
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</firmware>
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<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
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<servos>
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<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="ELEVATOR" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="AILERON_RIGHT" no="3" min="1000" neutral="1500" max="1000"/>
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<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
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<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
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</servos>
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<section name="SWITCH_SERVO" PREFIX="SWITCH_SERVO_">
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<define name="SERVO" value="HATCH"/>
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<define name="ON_VALUE" value="SERVO_HATCH_MIN"/>
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<define name="OFF_VALUE" value="SERVO_HATCH_MAX"/>
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</section>
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<!-- commands section -->
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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="2000"/>
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<axis name="HATCH" failsafe_value="-9599"/>
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<!-- maybe set to open position so we can insert the payload -->
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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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<auto_rc_commands>
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<!-- To still be able to use rudder, which is needed with sidewind landing in auto1 stabilization mode only YAW -->
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<set command="YAW" value="@YAW"/>
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</auto_rc_commands>
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<!--For mixed controlflaps -->
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.7"/>
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<define name="COMBI_SWITCH" value="0.3"/>
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</section>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1: AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<!--set servo="HATCH" value="@HATCH"/-->
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</command_laws>
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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="2"/>
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<define name="GYRO_R_CHAN" value="0"/>
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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="GYRO_P_NEUTRAL" value="32362"/>
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<define name="GYRO_R_NEUTRAL" value="32080"/>
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<define name="GYRO_Q_NEUTRAL" value="32096"/>
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<define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
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<define name="GYRO_R_SENS" value="1.1360802599" integer="16"/>
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<define name="GYRO_Q_SENS" value="1.1249874614" integer="16"/>
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<define name="ACCEL_X_CHAN" value="3"/>
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<define name="ACCEL_Y_CHAN" value="6"/>
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<define name="ACCEL_Z_CHAN" value="5"/>
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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_SENS" value="2.45932966" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.45106376" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.47825717" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="31886"/>
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<define name="ACCEL_Z_NEUTRAL" value="32162"/>
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<define name="ACCEL_Y_NEUTRAL" value="32941"/>
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<define name="GYRO_P_Q" value="0."/>
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<define name="GYRO_P_R" value="0."/>
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<define name="GYRO_Q_P" value="0."/>
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<define name="GYRO_Q_R" value="0."/>
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<define name="GYRO_R_P" value="0."/>
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<define name="GYRO_R_Q" value="0."/>
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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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<!-- Munich -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.4357869"/>
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<define name="H_Y" value="0.0177010"/>
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<define name="H_Z" value="0.8998758"/>
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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." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="55" unit="deg"/>
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<define name="MAX_PITCH" value="35" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MilliAmpereOfAdc(adc)" value="(adc*88)"/>
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<!-- <define name="ADC_CHANNEL_VOLTAGE" value="ADC_4" /> -->
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<!-- The real multiplier is unknown we take 2 as test example -->
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<!-- <define name="VoltageOfAdc(adc)" value ="(adc*2)"/> -->
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<!-- If NO current-volts sensor installed uncomment below -->
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<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="17000" unit="mA"/-->
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> <!-- 3S lipo 4.2*3=12.6 -->
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="22.0" unit="m/s"/>
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<define name="CARROT" value="5.0" unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
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If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
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<!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
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<!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
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or fly a long range mission you define the wanted mode behaviour here.
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If you do not define it, it defaults to flying to the flightplan HOME -->
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<!--define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/-->
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<define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
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<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
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<!--
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-->
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</section>
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<!-- ******************* VERTICAL CONTROL ********************************** -->
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
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<define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="s"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
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<!-- Climb loop (pitch) -->
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
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<!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
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<define name="AUTO_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/-->
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<define name="AUTO_PITCH_PGAIN" value="0.052"/>
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<define name="AUTO_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="0.065"/>
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<!-- airspeed control -->
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<!--define name="AUTO_AIRSPEED_SETPOINT" value="12."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="25"/>
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<define name="AIRSPEED_MIN" value="8"/-->
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<!-- groundspeed control -->
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<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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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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<!-- Loiter and Dash trimming -->
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
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<define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
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<define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
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</section>
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<!-- ******************* HORIZONTAL CONTROL ******************************** -->
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.1"/>
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<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
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<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
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<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
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<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
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<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
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<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="35" 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="7500."/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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<!-- only for stabilization adaptive -->
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<define name="ROLL_IGAIN" value="500"/>
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<define name="ROLL_KFFA" value="0."/>
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<define name="ROLL_KFFD" value="0."/>
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<!-- ** Maximal roll angle change per 1/60 of second ** -->
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<!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
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<define name="PITCH_PGAIN" value="7000."/>
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<!-- only for stabilization adaptive -->
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<define name="PITCH_DGAIN" value="1000."/>
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<define name="PITCH_IGAIN" value="500."/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_OF_ROLL" value="0.03"/>
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</section>
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<!-- ******************************** NAV ********************************** -->
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<!-- ***************************** AGGRESIVE ******************************* -->
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="18"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="8"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.99"/> <!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="RadOfDeg(45)"/> <!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.5"/> <!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="RadOfDeg(-30)"/> <!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="0.99"/>
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</section>
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<!-- ****************************** FAILSAFE ******************************* -->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.15" unit="rad"/>
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<define name="DEFAULT_PITCH" value="-0.1" unit="rad"/>
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<define name="HOME_RADIUS" value="60" unit="m"/>
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</section>
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<!-- ******************************** SIMU ********************************* -->
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- a to low of a value gives bad simulation results -->
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</section>
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</airframe>
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