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https://github.com/paparazzi/paparazzi.git
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Freek van Tienen
146 lines
5.2 KiB
XML
146 lines
5.2 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="ardrone2_sdk">
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2_sdk">
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<define name="USE_INS_NAV_INIT" />
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<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
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<!-- <define name="ARDRONE2_DEBUG" /> -->
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<!-- <define name="USE_GPS_HEIGHT" /> -->
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<!-- <define name="ARDRONE_FLIGHT_INDOOR" /> -->
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<!-- <define name="ARDRONE_WITHOUT_SHELL" /> -->
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<!-- <define name="ARDRONE_OWNER_MAC" value="00:24:d7:47:f0:f4" /> -->
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</target>
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<subsystem name="radio_control" type="datalink" />
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<subsystem name="telemetry" type="transparent_udp" />
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<subsystem name="gps" type="ardrone2" />
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<subsystem name="ahrs" type="ardrone2" />
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<subsystem name="ins" type="ardrone2" />
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<subsystem name="actuators" type="ardrone2" />
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<subsystem name="stabilization" type="passthrough"/>
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<subsystem name="imu" type="ardrone2" />
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</firmware>
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<modules main_freq="512">
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<load name="sys_mon.xml" />
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0" />
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<axis name="ROLL" 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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<servos driver="Default" />
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000" />
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<define name="SP_MAX_Q" value="10000" />
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<define name="SP_MAX_R" value="10000" />
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<define name="DEADBAND_P" value="20" />
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<define name="DEADBAND_Q" value="20" />
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<define name="DEADBAND_R" value="200" />
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<define name="REF_TAU" value="4" />
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<!-- feedback -->
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<define name="GAIN_P" value="400" />
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<define name="GAIN_Q" value="400" />
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<define name="GAIN_R" value="350" />
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<define name="IGAIN_P" value="75" />
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<define name="IGAIN_Q" value="75" />
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<define name="IGAIN_R" value="50" />
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<!-- feedforward -->
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<define name="DDGAIN_P" value="300" />
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<define name="DDGAIN_Q" value="300" />
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<define name="DDGAIN_R" value="300" />
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="30." unit="deg" />
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<define name="SP_MAX_THETA" value="30." unit="deg" />
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<define name="SP_MAX_R" value="90." 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="250" />
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="425" />
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<define name="HOVER_KD" value="200" />
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<define name="HOVER_KI" value="125" />
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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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="30." unit="deg" />
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<define name="PGAIN" value="7" />
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<define name="DGAIN" value="2" />
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<define name="IGAIN" value="0" />
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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_RC_DIRECT" />
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_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="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value=".2" unit="V" />
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<define name="CRITIC_BAT_LEVEL" value="1.9" unit="V" />
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<define name="LOW_BAT_LEVEL" value="2.5" unit="V" />
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<define name="MAX_BAT_LEVEL" value="10.0" unit="V" />
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="2072" />
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<define name="ACCEL_Y_NEUTRAL" value="2040" />
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<define name="ACCEL_Z_NEUTRAL" value="2047" />
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<define name="ACCEL_X_SENS" value="19.1079036954" integer="16" />
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<define name="ACCEL_Y_SENS" value="19.5393623518" integer="16" />
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<define name="ACCEL_Z_SENS" value="19.6539180847" integer="16" />
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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="GYRO_P_SENS_NUM" value="4359" />
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<define name="GYRO_P_SENS_DEN" value="1000" />
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<define name="GYRO_Q_SENS_NUM" value="4359" />
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<define name="GYRO_Q_SENS_DEN" value="1000" />
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<define name="GYRO_R_SENS_NUM" value="4359" />
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<define name="GYRO_R_SENS_DEN" value="1000" />
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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="MAG_X_NEUTRAL" value="118" />
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<define name="MAG_Y_NEUTRAL" value="-65" />
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<define name="MAG_Z_NEUTRAL" value="110" />
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<define name="MAG_X_SENS" value="14.6416865144" integer="16" />
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<define name="MAG_Y_SENS" value="14.5167340835" integer="16" />
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<define name="MAG_Z_SENS" value="15.1670335124" 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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<!-- roll -->
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
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<!-- pitch -->
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
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<!-- yaw -->
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
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</section>
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</airframe>
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