mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Christophe De Wagter
250 lines
8.8 KiB
XML
250 lines
8.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Lisa + Aspirin v2 using SPI only
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-->
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<airframe name="LisaAspirin2">
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<servos>
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<servo name="THROTTLE" no="2" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
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<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
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<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
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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="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
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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="BRAKE" value="@YAW"/>
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</rc_commands>
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<command_laws>
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<set servo="AILEVON_LEFT" value="@ROLL + @PITCH"/>
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<set servo="AILEVON_RIGHT" value="@ROLL - @PITCH"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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</command_laws>
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<!-- Local magnetic field -->
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<section name="AHRS" prefix="AHRS_" >
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<define name="H_X" value="0.51562740288882" />
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<define name="H_Y" value="-0.05707735220832" />
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<define name="H_Z" value="0.85490967783446" />
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
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<define name="GYRO_P_SENS" value="4.359" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
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<define name="GYRO_R_SENS" value="4.359" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
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<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Z_SENS" value="9.81" 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="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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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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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.7"/>
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<define name="MAX_PITCH" value="0.7"/>
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</section>
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<section name="BAT">
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<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.03"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
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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="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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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="-1.20000004768"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
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<define name="ROLL_MAX_SETPOINT" value="0.75" 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="PITCH_PGAIN" value="-12000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1000."/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" 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="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
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<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
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</section>
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<modules>
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<!--
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="2"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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<load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml" /> -->
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<!--
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<load name="digital_cam.xml" >
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<define name="DC_SHUTTER_LED" value="3"/>
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</load>
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-->
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="lisa_m_1.0">
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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<configure name="CPU_LED" value="1"/>
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</target>
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<target name="sim" board="pc"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<!-- Sensors -->
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<!--
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<subsystem name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
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</subsystem>
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-->
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<subsystem name="imu" type="aspirin_v2.0"/>
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<subsystem name="ahrs" type="float_dcm">
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<!-- <define name="USE_MAGNETOMETER" /> -->
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</subsystem>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<subsystem name="gps" type="ublox_utm"/>
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</firmware>
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</airframe>
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