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paparazzi/conf/airframes/examples/cube_orange.xml
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Freek van Tienen 1307cff084 [modules] Remove imu_mag_current module
2022-09-20 14:37:58 +02:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- This is a Nedderdrone
* Airframe: TUD00328
* Autopilot: Pixhawk 4
* FBW: Pixhawk 4
* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
* Datalink: Doodlelabs 2.4GHz
* GPS: UBlox F9P
* RC: SBUS Crossfire
-->
<airframe name="Neddrone5">
<description>Neddrone5</description>
<firmware name="rotorcraft">
<target name="ap" board="cube_orange">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="FLASH_MODE" value="SWD"/>
<!--configure name="RTOS_DEBUG" value="1"/-->
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
</module>
<module name="scheduling_indi_simple"/>
<module name="sys_mon"/>
<!-- Forward FuelCell data back to the GCS -->
<!--module name="generic_uart_sensor"/-->
<!-- Logger -->
<module name="flight_recorder"/>
<!--define name="ADC_CURRENT_DISABLE" value="TRUE"/-->
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_5"/>
</module>
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
<define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/>
</target>
<target name="nps" board="pc">
<module name="radio_control" type="datalink"/>
<module name="fdm" type="jsbsim"/>
<module name="scheduling_indi_simple"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
</module>
<!--Not dealing with these in the simulation-->
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
</target>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="actuators" type="uavcan">
<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
</module>
<module name="actuators" type="pwm"/>
<module name="imu" type="cube"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="indi_simple"/>
<module name="stabilization" type="rate_indi"/>
<module name="ins" type="ekf2" />
<module name="air_data"/>
<!-- Internal MAG -->
<!--module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
</module-->
<!-- External MAG on GPS -->
<module name="mag_lis3mdl">
<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
</module>
<!--module name="lidar" type="tfmini">
<configure name="TFMINI_PORT" value="UART4"/>
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
</module>
<module name="motor_mixing"/>
</firmware>
<!-- CAN BUS 1 (Front Wing) -->
<servos driver="Pwm">
<servo name="MOTOR_1" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_2" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_3" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_4" no="3" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_5" no="4" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_6" no="5" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_7" no="6" min="1000" neutral="1100" max="2000"/>
</servos>
<!-- CAN BUS 1 (Front Wing) -->
<servos driver="Uavcan1">
<!--servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/-->
<servo name="AIL_1" no="6" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP_1" no="7" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP_2" no="8" min="-6000" neutral="0" max="6000"/>
<servo name="AIL_2" no="9" min="-6000" neutral="0" max="6000"/>
</servos>
<servos driver="Uavcan2">
<!--servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/-->
<servo name="AIL1_1" no="6" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP1_1" no="7" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP1_2" no="8" min="-6000" neutral="0" max="6000"/>
<servo name="AIL1_2" no="9" min="-6000" neutral="0" max="6000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="-300"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THRUST" value="@THROTTLE" />
<set command="ROLL" value="@YAW" />
<set command="PITCH" value="@PITCH/2" />
<set command="YAW" value="-@ROLL/4" />
</rc_commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
<define name="NB_MOTOR" value="12"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
<define name="YAW_COEF" value="{256, -256, 256, -256, 256, -256, -256, 256, -256, 256, -256, 256}"/>
<!--<define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<set servo="MOTOR_1" value="($th_hold? -9600 : motor_mixing.commands[0])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : motor_mixing.commands[1])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : motor_mixing.commands[2])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : motor_mixing.commands[3])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : motor_mixing.commands[4])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : motor_mixing.commands[5])"/>
</command_laws>
<section name="MISC">
<!--define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.9040120162 * adc)"/--><!-- TODO: verify/calibrate -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<!-- Basic navigation settings -->
<define name="NAV_CLIMB_VSPEED" value="3.5"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<!-- Avoid GPS loss behavior when having RC or datalink -->
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
</section>
<section name="FORWARD">
<!--The Nederdrone uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Nederdrone will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
<!-- For RC coordinated turns, lower because the yawing was too slow -->
<define name="MAX_FWD_SPEED" value="20.0"/>
<!-- For hybrid guidance -->
<define name="MAX_AIRSPEED" value="20.0"/>
<!-- Enable airspeed measurements -->
<define name="USE_AIRSPEED" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Rotate the IMU (for Pixhawk 4) -->
<define name="MPU_CHAN_X" value="1"/>
<define name="MPU_CHAN_Y" value="0"/>
<define name="MPU_CHAN_Z" value="2"/>
<define name="MPU_X_SIGN" value="1"/>
<define name="MPU_Y_SIGN" value="1"/>
<define name="MPU_Z_SIGN" value="-1"/>
<!-- Calibrated 09-03-2021 in MAVLab outside body -->
<define name="ACCEL_X_NEUTRAL" value="16"/>
<define name="ACCEL_Y_NEUTRAL" value="31"/>
<define name="ACCEL_Z_NEUTRAL" value="10"/>
<define name="ACCEL_X_SENS" value="4.793311542012962" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.893892083504835" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.791159603565934" integer="16"/>
<!-- NOT CALIBRATED (internal magnetometer) -->
<!--define name="MAG_X_NEUTRAL" value="-13"/>
<define name="MAG_Y_NEUTRAL" value="-15"/>
<define name="MAG_Z_NEUTRAL" value="12"/>
<define name="MAG_X_SENS" value="12.823826623678" integer="16"/>
<define name="MAG_Y_SENS" value="12.86305350064853" integer="16"/>
<define name="MAG_Z_SENS" value="12.512614596093622" integer="16"/-->
<!-- NOT CALIBRATED (external magnetometer) -->
<define name="MAG_X_NEUTRAL" value="2457"/>
<define name="MAG_Y_NEUTRAL" value="-1123"/>
<define name="MAG_Z_NEUTRAL" value="-1843"/>
<define name="MAG_X_SENS" value="0.590610116730755" integer="16"/>
<define name="MAG_Y_SENS" value="0.6411943049128617" integer="16"/>
<define name="MAG_Z_SENS" value="0.6279536066632421" integer="16"/>
<!-- Define axis in hover frame -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="80." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness (hover) -->
<define name="G1_P" value="0.0030"/>
<define name="G1_Q" value="0.0035"/>
<define name="G1_R" value="0.0004"/>
<define name="G2_R" value="0.00015"/>
<!-- control effectiveness (forward) -->
<define name="FORWARD_G1_P" value="0.0020"/>
<define name="FORWARD_G1_Q" value="0.0077"/>
<define name="FORWARD_G1_R" value="0.004"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="30.0"/>
<define name="REF_ERR_R" value="20.0"/>
<define name="REF_RATE_P" value="6.0"/>
<define name="REF_RATE_Q" value="6.0"/>
<define name="REF_RATE_R" value="6.0"/>
<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="50.0" unit="deg/s"/>
<!-- Maximum rate setpoint in rate control mode -->
<define name="MAX_RATE" value="3.0" unit="rad/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="1.5"/>
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.0354"/>
<define name="ACT_DYN_Q" value="0.0354"/>
<define name="ACT_DYN_R" value="0.0354"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="310"/>
<define name="HOVER_KD" value="130"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="0"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
<define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="BAT_NB_CELLS" value="4"/>
</section>
</airframe>
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