mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 21:07:40 +08:00
Piotr Esden-Tempski
263 lines
10 KiB
XML
263 lines
10 KiB
XML
<!-- this is a microkopter frame equiped with Lisa/L and generic china pwm motor controllers -->
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<airframe name="lisa_asctec">
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
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<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
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<servo name="RIGHT" no="3" 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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<command_laws>
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<!--<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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-->
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<set servo="FRONT" value="0"/>
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<set servo="BACK" value="1"/>
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<set servo="LEFT" value="2"/>
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<set servo="RIGHT" value="3"/>
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</command_laws>
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<!-- for the sim -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="1090"/>
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<define name="MAX_MOTOR" value="2000"/>
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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="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="THRUST_COEF" value="{ 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_NEUTRAL" value="27"/>
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<define name="GYRO_Q_NEUTRAL" value="-10"/>
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<define name="GYRO_R_NEUTRAL" value="20"/>
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<define name="GYRO_P_SENS" value="5.0" integer="16"/>
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<define name="GYRO_Q_SENS" value="5.0" integer="16"/>
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<define name="GYRO_R_SENS" value="5.0" integer="16"/>
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<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
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<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
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<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="4"/>
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<define name="ACCEL_Y_NEUTRAL" value="-14"/>
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<define name="ACCEL_Z_NEUTRAL" value="-5"/>
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<define name="ACCEL_X_SENS" value="39" integer="16"/>
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<define name="ACCEL_Y_SENS" value="39" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39" integer="16"/>
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<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1." integer="16"/>
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<define name="MAG_Y_SENS" value="1." integer="16"/>
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<define name="MAG_Z_SENS" value="1." integer="16"/>
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<define name="MAG_XY_SENS" value="0.0" integer="16"/>
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<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
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<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
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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="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(600)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(400.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(600)"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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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="-550"/>
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<define name="PHI_DGAIN" value="-210"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-550"/>
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<define name="THETA_DGAIN" value="-210"/>
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<define name="THETA_IGAIN" value="-200"/>
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<define name="PSI_PGAIN" value="-600"/>
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<define name="PSI_DGAIN" value="-200"/>
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<define name="PSI_IGAIN" value="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="10." 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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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<!-- -->
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<modules main_freq="512">
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<load name="vehicle_interface_overo_link.xml"/>
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</modules>
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<!-- -->
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.1">
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<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
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<subsystem name="radio_control" type="spektrum"/>
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<subsystem name="actuators" type="pwm_supervision"/>
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<subsystem name="telemetry" type="transparent"/>
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<define name="SERVO_HZ" value="400"/>
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<define name="RADIO_MODE" value="RADIO_AUX2"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
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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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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="mkk"/>
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</target>
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<subsystem name="imu" type="aspirin"/>
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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_led" board="lisa_l_1.1"/>
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<target name="test_uart" board="lisa_l_1.1"/>
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<target name="test_servos" board="lisa_l_1.1"/>
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<target name="test_telemetry" board="lisa_l_1.1"/>
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<target name="test_baro" board="lisa_l_1.1"/>
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<target name="test_imu_b2" board="lisa_l_1.1"/>
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<target name="test_imu_b2_2" board="lisa_l_1.1"/>
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<target name="test_imu_aspirin" board="lisa_l_1.1"/>
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<target name="test_rc_spektrum" board="lisa_l_1.1"/>
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<target name="test_rc_ppm" board="lisa_l_1.1"/>
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<target name="test_adc" board="lisa_l_1.1"/>
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<target name="test_hmc5843" board="lisa_l_1.1"/>
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<target name="test_itg3200" board="lisa_l_1.1"/>
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<target name="test_adxl345" board="lisa_l_1.1"/>
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<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
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<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
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<target name="test_actuators_mkk" board="lisa_l_1.1"/>
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<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
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</firmware>
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<firmware name="lisa_passthrough">
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<target name="overo_test_passthrough" board="lisa_l_1.1" >
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<param name="HOST" value="A7"/>
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<param name="USER" value=""/>
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<param name="TARGET_DIR" value="~"/>
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<param name="PERIODIC_FREQ" value="512"/>
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</target>
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<target name="stm_passthrough" board="lisa_l_1.1">
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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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</target>
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</firmware>
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</airframe>
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