mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 21:07:40 +08:00
Eric Parsonage
220 lines
8.1 KiB
XML
220 lines
8.1 KiB
XML
<!--<!DOCTYPE airframe SYSTEM "../airframe.dtd">-->
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<airframe name="A1000 LISA">
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<modules main_freq="512">
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<load name="deploy_sonar_buoy.xml"/>
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</modules>
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<servos>
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<servo name="BACK" no="0" min="2000" neutral="1500" max="1000"/>
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<servo name="LEFT" no="1" min="2000" neutral="1500" max="1000"/>
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<servo name="FRONT" no="2" min="2000" neutral="1500" max="1000"/>
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<servo name="RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
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<servo name="ESC" no="4" min="1000" neutral="1000" max="2000"/>
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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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<!--
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<command_laws>
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<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
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<set servo="FRONT" value="-(@PITCH + @YAW + (1.3 * (@THRUST<<5)))"/>
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<set servo="BACK" value="-(-@PITCH + @YAW + (1.3 *(@THRUST<<5)))"/>
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<set servo="LEFT" value="-(@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
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<set servo="RIGHT" value="-(-@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
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</command_laws>
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-->
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<command_laws>
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<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
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<set servo="FRONT" value="@PITCH + @YAW + @THRUST"/>
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<set servo="BACK" value="-@PITCH + @YAW + @THRUST"/>
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<set servo="LEFT" value="@ROLL - @YAW + @THRUST"/>
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<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="33550"/>
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<define name="GYRO_Q_NEUTRAL" value="33500"/>
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<define name="GYRO_R_NEUTRAL" value="32500"/>
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<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
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<!-- accelerations done on 18/10/2010 -->
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<define name="ACCEL_X_NEUTRAL" value="32093"/>
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<define name="ACCEL_Y_NEUTRAL" value="32301"/>
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<define name="ACCEL_Z_NEUTRAL" value="32293"/>
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<define name="ACCEL_X_SENS" value="2.53098065315" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.52055255767" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.57032707747" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-9"/>
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<define name="MAG_Y_NEUTRAL" value="-4"/>
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<define name="MAG_Z_NEUTRAL" value="14"/>
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<define name="MAG_X_SENS" value="3.61018203965" integer="16"/>
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<define name="MAG_Y_SENS" value="4.13471628028" integer="16"/>
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<define name="MAG_Z_SENS" value="2.07762920804" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.53 )"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -1.24 )"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0)"/>
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</section>
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<section name="AUTOPILOT">
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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_HOVER_Z_HOLD"/>
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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="STABILIZATION_RATE" prefix="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="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="-5000"/>
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<define name="PHI_DGAIN" value="-400"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-5000"/>
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-400"/>
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<define name="PSI_PGAIN" value="2000"/>
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<define name="PSI_DGAIN" value="350"/>
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<define name="PSI_IGAIN" value="10"/>
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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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<!-- feedback -->
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<define name="PHI_PGAIN" value="-1500"/>
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<define name="PHI_DGAIN" value="-30"/>
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<define name="PHI_IGAIN" value="-100"/>
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<define name="THETA_PGAIN" value="-1500"/>
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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="-1000"/>
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<define name="PSI_DGAIN" value="-300"/>
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<define name="PSI_IGAIN" value="-10"/>
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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="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="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="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="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.0">
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<define name = "RADIO_CONTROL_MODE" value = "RADIO_CONTROL_AUX1"/>
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<define name = "RADIO_CONTROL_KILL_SWITCH" value = "RADIO_CONTROL_GEAR"/>
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<define name = "HELI"/>
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<!-- <define name = "KILL_MOTORS" />-->
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<!-- if we want a secondary spektrum reciever we need to set the board to be
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lisa_l_1.1 and rewired accordingly then set the following.
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<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
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<define name = "OVERRIDE_UART5_IRQ_HANDLER"/> -->
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</target>
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<subsystem name="radio_control" type="spektrum"/>
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<subsystem name="actuators" type="heli"/>
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<subsystem name="imu" type="b2_v1.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="ahrs" type="cmpl"/>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_spektrum" board="lisa_l_1.0"/>
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</firmware>
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<firmware name="lisa_passthrough">
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<target name="stm_passthrough" board="lisa_l_1.0"/>
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<subsystem name="radio_control" type="spektrum"/>
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<subsystem name="imu" type="b2_v1.1"/>
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</firmware>
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</airframe>
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