mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
1b345804b4
* [generator] add support for matrix and struct in airframe update ENAC airframe and code for indi G1 matrix and IMU calib * update calibration tool output
283 lines
10 KiB
XML
283 lines
10 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Robo_Bee_3">
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<description>
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* Autopilot: Tawaki
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* Actuators: 4 in 1
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* Telemetry: XBee
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* GPS: datalink
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* RC: SBUS
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</description>
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<firmware name="rotorcraft">
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<configure name="PERIODIC_FREQUENCY" value="512"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
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<target name="ap" board="tawaki_1.1">
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<module name="radio_control" type="sbus"/>
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<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
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</target>
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<target name="nps" board="pc">
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<!--module name="fdm" type="jsbsim"/-->
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<module name="fdm" type="pybullet">
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<define name="PYBULLET_GUI" value="TRUE"/>
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<define name="NPS_BYPASS_AHRS" value="TRUE"/>
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<define name="NPS_BYPASS_INS" value="TRUE"/>
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</module>
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<module name="radio_control" type="datalink"/>
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</target>
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<module name="telemetry" type="xbee_api"/>
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<module name="actuators" type="dshot">
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<!--define name="DSHOT_SPEED" value="300"/-->
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</module>
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<module name="board" type="tawaki">
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<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
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<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
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<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
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</module>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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</module>
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<module name="stabilization" type="indi">
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<define name="WLS_N_U" value="4" />
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<define name="WLS_N_V" value="4" />
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</module>
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<module name="guidance" type="indi">
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="15.6"/>
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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</module>
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<module name="ins"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<!-- <define name="AHRS_USE_GPS_HEADING" value="FALSE"/> -->
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</module>
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<module name="air_data"/>
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<module name="filter" type="1euro_imu">
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<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
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<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
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</module>
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<module name="tag_tracking">
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<configure name="JEVOIS_UART" value="UART4" description="dummy uart in this config"/>
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</module>
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<module name="extra_dl">
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<configure name="EXTRA_DL_PORT" value="UART3"/>
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<configure name="EXTRA_DL_BAUD" value="B115200"/>
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</module>
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<module name="motor_mixing"/>
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<module name="flight_recorder"/>
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<!--module name="logger" type="tune_indi"/-->
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</firmware>
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<servos driver="DShot">
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<servo name="FR" no="1" min="0" neutral="100" max="2000"/>
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<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
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<servo name="BL" no="3" min="0" neutral="100" max="2000"/>
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<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
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</servos>
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<commands>
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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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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TYPE" value="QUAD_X"/>
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<define name="REVERSE" value="TRUE"/>
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</section>
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<!--command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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</command_laws-->
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<command_laws>
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<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
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<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
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<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
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<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="-1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="-1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="-52"/>
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<define name="ACCEL_Y_NEUTRAL" value="63"/>
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<define name="ACCEL_Z_NEUTRAL" value="78"/>
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<define name="ACCEL_X_SENS" value="2.5604087853414104" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.448144955015108" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.4642689651242438" integer="16"/>
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<define name="MAG_X_SIGN" value="-1"/>
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<define name="MAG_Y_SIGN" value="-1"/>
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<define name="MAG_Z_SIGN" value="1"/>
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<define name="MAG_X_NEUTRAL" value="-3389"/>
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<define name="MAG_Y_NEUTRAL" value="-9655"/>
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<define name="MAG_Z_NEUTRAL" value="1277"/>
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<define name="MAG_X_SENS" value="0.725111506132357" integer="16"/>
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<define name="MAG_Y_SENS" value="0.7213630968776462" integer="16"/>
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<define name="MAG_Z_SENS" value="0.6528914510154457" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<include href="conf/mag/delft_valkenburg.xml"/>
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<section name="INS" prefix="INS_">
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<define name="INV_NXZ" value="0.25"/>
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<define name="INV_NH" value="2.0"/>
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<define name="INV_MVZ" value="8."/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- Use GPS heading instead of magneto -->
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<define name="USE_GPS_HEADING" value="0"/>
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<!-- <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/> -->
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="120" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<define name="NUM_ACT" value="4"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="111"/>
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<define name="REF_ERR_Q" value="111"/>
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<define name="REF_ERR_R" value="136"/>
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<define name="REF_RATE_P" value="20.0"/>
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<define name="REF_RATE_Q" value="20.0"/>
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<define name="REF_RATE_R" value="11.0"/>
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<define name="MAX_R" value="120" unit="deg/s"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="4.0"/>
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<define name="FILT_CUTOFF_R" value="4.0"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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<!-- Full INDI -->
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<!-- control effectiveness -->
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<define name="G1" type="matrix">
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<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
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<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
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<field value="{ 3, -3, 3, -3 }"/>
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<field value="{ -0.5, -0.5, -0.5, -0.5}"/>
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</define>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{100, -100, 100, -100.0 }"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ" value="{10.3, 10.3, 10.3, 10.3}"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
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<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1."/>
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<define name="HOVER_KP" value="90"/>
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<define name="HOVER_KD" value="110"/>
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<define name="HOVER_KI" value="10"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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<define name="ADAPT_NOISE_FACTOR" value="1."/>
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<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="PGAIN" value="41"/>
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<define name="DGAIN" value="108"/>
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<define name="IGAIN" value="20"/>
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<define name="NGAIN" value="0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="0"/>
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<define name="REF_MAX_SPEED" value="4."/>
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<define name="REF_MAX_ACCEL" value="2."/>
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</section>
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<section name="NAV">
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<define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
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<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
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<define name="NAV_CLIMB_VSPEED" value="0.5"/>
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</section>
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<section name="BAT">
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="TAG_TRACKING" prefix="TAG_TRACKING_">
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<define name="BODY_TO_CAM_PSI" value="M_PI"/>
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<define name="CAM_POS_X" value="0.1"/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATORS_ORDER" value="{3, 2, 1, 0}"/>
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<define name="PYBULLET_MODULE" value="simple_quad_sim" type="string"/>
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<define name="PYBULLET_URDF" value="robobee.urdf" type="string"/>
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<!--define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/-->
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<define name="NO_MOTOR_MIXING" value="TRUE"/>
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</section>
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</airframe>
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