mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Felix Ruess
197 lines
7.1 KiB
XML
197 lines
7.1 KiB
XML
<airframe name="Twin1">
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<servos>
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<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
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<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
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<servo name="ELEVATOR" no="7" min="1816" neutral="1586" max="1220"/>
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<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
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</servos>
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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="0"/>
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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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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="GAZ" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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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="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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</command_laws>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="2"/>
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<define name="VSUPPLY" value="3"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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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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<define name="ADC_ROLL_NEUTRAL" value="-1005"/>
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<define name="ADC_PITCH_NEUTRAL" value="75"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="10000."/>
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<define name="PITCH_OF_ROLL" value="0.0"/>
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<define name="PITCH_PGAIN" value="15000."/>
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<define name="MAX_ROLL" value="0.55"/>
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<define name="MAX_PITCH" value="0.35"/>
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<define name="MIN_PITCH" value="-0.35"/>
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<define name="AILERON_OF_GAZ" value="0"/>
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<define name="CRUISE_THROTTLE" value="0.45"/>
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</section>
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<section name="ALT" prefix="CLIMB_">
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<define name="PITCH_PGAIN" value="-0.1"/>
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<define name="PITCH_IGAIN" value="0.025"/>
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<define name="PGAIN" value="-0.03"/>
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<define name="IGAIN" value="0.1"/>
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<define name="MAX" value="1."/>
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<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.4"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="10000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-6000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="0"/>
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<!-- roll rate loop -->
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<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
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<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
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<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
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<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
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<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
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<define name="ROLL_RATE_IGAIN" value="0."/>
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<define name="ROLL_RATE_DGAIN" value="0."/>
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<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.025"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".45"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
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<define name="VOLTAGE_ADC_A" value="0.0175"/>
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<define name="VOLTAGE_ADC_B" value="0.088"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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</section>
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<section name="SIMU">
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<define name="WEIGHT" value="1.3"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="CRUISE_THROTTLE+0.05" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<section name="CAM" prefix="CAM_">
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<define name="THETA0" value="0" unit="deg"/>
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<define name="PHI0" value="30" unit="deg"/>
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</section>
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<makefile>
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# Virtual AC
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# Config for HITL simulation on a V1_2_1 bi-AVR board
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
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# Harware In The Loop
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ap.CFLAGS += -DHITL
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# Downlink on uart0
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ap.CFLAGS += -DUSE_UART0 -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DUART0_BAUD=B38400
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ap.EXTRA_SRCS += pprz_transport.c downlink.c
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# Datalink (on uart0) used to emulate sensors (infrared and gps)
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ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c
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ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.srcs += subsystems/navigation/nav_survey_rectangle.c
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</makefile>
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</airframe>
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