Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 14:18:00 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity
Files
149dc9b10a65bbdf55699fd13c7e4be7ebc9621d
paparazzi/conf/airframes/UCM/sonic2.xml
T
Jesús Bautista Villar 149dc9b10a GVF user configs and GVF Viewer documentation (#2896)
2022-10-12 11:26:17 +02:00

269 lines
9.4 KiB
XML
Raw Blame History

<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Sonicmodell 1
- Propeller: 5x5 3 blades
- Motor: 2206 2300KV
- Motor controller: Flycolor 30A LV
- Radio modem: Xbee Pro S1 2.4 Ghz
- Radio control: Futaba T7C (FASST)
- GPS: Ublox M8N
- Autopilot; Apogee V1.0
-->
<airframe name="Sonic_2">
<firmware name="fixedwing">
<define name="NAVIGATION_FREQUENCY" value="50"/> <!-- unit="Hz" -->
<!--configure name="CONTROL_FREQUENCY" value="120"/--> <!-- unit="Hz" -->
<!--configure name="TELEMETRY_FREQUENCY" value="60"/--> <!-- unit="Hz" -->
<!--configure name="MODULES_FREQUENCY" value="512"/--> <!-- unit="Hz" -->
<define name="USE_GYRO_PITCH_RATE"/>
<!--target name="ap" board="apogee_1.0_chibios">
<module name="radio_control" type="sbus"/>
</target-->
<target name="nps" board="pc">
<module name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
</target>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="apogee">
<define name="IMU_APOGEE_CHAN_X" value="1"/>
<define name="IMU_APOGEE_CHAN_Y" value="0"/>
</module>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control" type="new"/>
<module name="navigation"/>
<module name="tlsf"/>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B38400"/>
</module>
</firmware>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" max="1000" neutral="1430" min="2000"/>
<servo name="AILEVON_LEFT" no="2" max="2000" neutral="1693" min="1000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
</command_laws>
<section name="GVF" prefix="GVF_">
<define name="LINE_KE" value="2.5"/>
<define name="ELLIPSE_KE" value="0.8"/>
<define name="ELLIPSE_KN" value="0.6"/>
</section>
<section name="GVF_PARAMETRIC" prefix="GVF_PARAMETRIC_">
<define name="3D_LISSAJOUS_KX" value="0.001"/>
<define name="3D_LISSAJOUS_KY" value="0.001"/>
<define name="3D_LISSAJOUS_KZ" value="0.001"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Needed by NPS (simulation) -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<!-- Calibration Neutral -->
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="109"/>
<define name="ACCEL_Y_NEUTRAL" value="13"/>
<define name="ACCEL_Z_NEUTRAL" value="-404"/>
<define name="ACCEL_X_SENS" value="2.45045342816" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44747844234" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.42689216106" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="-0.0349069999999"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="H_X" value="0.5141"/>
<define name="H_Y" value="0.0002"/>
<define name="H_Z" value="0.8576"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="8.6" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="APP_ANGLE" value="8" unit="deg"/>
<!--ATID: Network 3351 (default:3350)
ATCH: Channel 17
ATP1: Api mode
ATBD6: Baudrate 57600
ATWR: Write in Flash-->
<!--define name="XBEE_INIT" value="\"ATID3351\rATCH17\rATP1\rATBD6\r\""/-->
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.13"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- disable climb rate limiter -->
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.07" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.012"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.002"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.011"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="0.01"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
<!-- Trims -->
<define name="PITCH_TRIM" value="0.5" unit="deg"/>
<!-- airspeed control -->
<!--XPA NOT USED />
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="30"/>
<define name="AIRSPEED_MIN" value="10"/-->
<!-- groundspeed control -->
<!--XPA NOT USED />
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
<!-- pitch trim -->
<!--XPA NOT USED />
<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/-->
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.743"/>
<!--XPA NOT USED />
<define name="COURSE_TAU" value="0.5"/-->
<define name="ROLL_MAX_SETPOINT" value="50.0000214859" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="100."/>
<!--XPA NOT USED />
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/-->
<define name="PITCH_PGAIN" value="17250"/>
<define name="PITCH_DGAIN" value="500."/>
<define name="PITCH_IGAIN" value="400"/>
<!--XPA NOT USED />
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/-->
<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
</section>
<!--XPA NOT USED />
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section-->
<section name="CATAPULT" prefix="NAV_CATAPULT_">
<define name="ACCELERATION_THRESHOLD" value="1.0"/>
<define name="INITIAL_PITCH" value="20" unit="deg"/>
<define name="CLIMB_DISTANCE" value="160"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
</airframe>
Reference in New Issue View Git Blame Copy Permalink