mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
225 lines
7.6 KiB
XML
225 lines
7.6 KiB
XML
<airframe name="BOOZ2_a1">
|
|
|
|
<servos>
|
|
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
|
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
|
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
|
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
|
<define name="NB" value="4"/>
|
|
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
|
</section>
|
|
|
|
<section name="SUPERVISION" prefix="SUPERVISION_">
|
|
<define name="MIN_MOTOR" value="2"/>
|
|
<define name="MAX_MOTOR" value="210"/>
|
|
<define name="TRIM_A" value="0"/>
|
|
<define name="TRIM_E" value="0"/>
|
|
<define name="TRIM_R" value="0"/>
|
|
<define name="NB_MOTOR" value="4"/>
|
|
<define name="SCALE" value="256"/>
|
|
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
|
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
|
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
|
</section>
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_P_CHAN" value="1"/>
|
|
<define name="GYRO_Q_CHAN" value="0"/>
|
|
<define name="GYRO_R_CHAN" value="2"/>
|
|
|
|
<define name="GYRO_P_NEUTRAL" value="33924"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="33417"/>
|
|
<define name="GYRO_R_NEUTRAL" value="32809"/>
|
|
|
|
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
|
|
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
|
|
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
|
|
|
|
<define name="ACCEL_X_CHAN" value="3"/>
|
|
<define name="ACCEL_Y_CHAN" value="5"/>
|
|
<define name="ACCEL_Z_CHAN" value="6"/>
|
|
|
|
<define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="32081"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="33738"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="32441"/>
|
|
|
|
<define name="MAG_X_CHAN" value="4"/>
|
|
<define name="MAG_Y_CHAN" value="0"/>
|
|
<define name="MAG_Z_CHAN" value="2"/>
|
|
|
|
<define name="MAG_X_NEUTRAL" value="2358"/>
|
|
<define name="MAG_Y_NEUTRAL" value="2362"/>
|
|
<define name="MAG_Z_NEUTRAL" value="2119"/>
|
|
|
|
<define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
|
|
<define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
|
|
<!-- <define name="MAG_45_HACK" value="1"/> -->
|
|
<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
|
|
<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
|
|
<!-- <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
|
|
<!-- <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/> -->
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="4." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
|
|
</section>
|
|
|
|
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
|
|
|
<define name="SP_MAX_P" value="10000"/>
|
|
<define name="SP_MAX_Q" value="10000"/>
|
|
<define name="SP_MAX_R" value="10000"/>
|
|
|
|
<define name="GAIN_P" value="400"/>
|
|
<define name="GAIN_Q" value="400"/>
|
|
<define name="GAIN_R" value="350"/>
|
|
|
|
</section>
|
|
|
|
|
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
|
|
|
<!-- setpoints -->
|
|
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
|
|
<!-- reference -->
|
|
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.9"/>
|
|
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.9"/>
|
|
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.9"/>
|
|
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
|
|
|
<!-- feedback -->
|
|
<define name="PHI_PGAIN" value="400"/>
|
|
<define name="PHI_DGAIN" value="300"/>
|
|
<define name="PHI_IGAIN" value="100"/>
|
|
|
|
<define name="THETA_PGAIN" value="400"/>
|
|
<define name="THETA_DGAIN" value="300"/>
|
|
<define name="THETA_IGAIN" value="100"/>
|
|
|
|
<define name="PSI_PGAIN" value="380"/>
|
|
<define name="PSI_DGAIN" value="320"/>
|
|
<define name="PSI_IGAIN" value="75"/>
|
|
|
|
<!-- feedforward -->
|
|
<define name="PHI_DDGAIN" value=" 300"/>
|
|
<define name="THETA_DDGAIN" value=" 300"/>
|
|
<define name="PSI_DDGAIN" value=" 300"/>
|
|
|
|
</section>
|
|
|
|
<section name="ARHS" prefix="AHRS_">
|
|
<define name="H_X" value="0.4912"/>
|
|
<define name="H_Y" value="0.1225"/>
|
|
<define name="H_Z" value="0.8624"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
<define name="BARO_SENS" value="15." integer="16"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
|
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
|
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
|
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
|
<define name="MAX_SUM_ERR" value="2000000"/>
|
|
<define name="HOVER_KP" value="500"/>
|
|
<define name="HOVER_KD" value="200"/>
|
|
<define name="HOVER_KI" value="100"/>
|
|
<!-- <define name="INV_M" value ="0.2"/> -->
|
|
</section>
|
|
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<define name="PGAIN" value="100"/>
|
|
<define name="DGAIN" value="100"/>
|
|
<define name="IGAIN" value="0"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
|
</section>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
|
|
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
</section>
|
|
|
|
<section name="FMS">
|
|
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="FACE_REINJ_1" value="1024"/>
|
|
</section>
|
|
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
|
<define name="JSBSIM_INIT" value=""reset00""/>
|
|
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1p.h""/>
|
|
</section>
|
|
|
|
|
|
|
|
|
|
<makefile>
|
|
ARCH=lpc21
|
|
BOARD_CFG = \"boards/booz2_v1_0.h\"
|
|
|
|
# prevents motors from ever starting
|
|
#ap.CFLAGS += -DKILL_MOTORS
|
|
ap.CFLAGS += -DMODEM_BAUD=B57600
|
|
|
|
include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
|
|
include $(CFG_BOOZ)/booz2_autopilot.makefile
|
|
include $(CFG_BOOZ)/booz2_test_progs.makefile
|
|
|
|
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
|
|
|
|
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
|
|
|
|
include $(CFG_BOOZ)/subsystems/ahrs_mlkf.makefile
|
|
|
|
include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
|
|
|
|
</makefile>
|
|
|
|
</airframe>
|