mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
386 lines
15 KiB
XML
386 lines
15 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame equiped with
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* Autopilot: 3dr Pixhawk 2.4
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* IMU: L3GD20 + LSM303D + MPU6000 + external HMC58XX
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* Actuators: PWM motor controllers
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: PPM
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-->
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<airframe name="iris_indi">
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<firmware name="rotorcraft">
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<!-- Main autopilot MCU -->
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<target name="ap" board="px4fmu_2.4">
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<configure name="PERIODIC_FREQUENCY" value="200"/>
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<configure name="TELEMETRY_FREQUENCY" value="60"/>
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<comment>
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amount of time it take for the bat to check
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to avoid bat low spike detection when strong pullup withch draws short sudden power
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</comment>
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<define name="BAT_CHECKER_DELAY" value="80" /><!-- in seconds-->
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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" /><!-- in seconds-->
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<module name="telemetry" type="transparent_gec">
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<configure name="MODEM_PORT" value="UART2"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</module>
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<module name="imu" type="px4fmu_v2.4"/>
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<!--module name="stabilization" type="indi_simple"/-->
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<module name="stabilization" type="float_euler"/>
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<!--module name="guidance" type="indi">
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
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</module-->
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<!--module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_ICQ_IMU_ID" value="IMU_PX4_ID" />
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
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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="ahrs" type="float_mlkf">
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<configure name="SECONDARY_AHRS" value="float_mlkf"/>
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<define name="AHRS_MLKF_IMU_ID" value="IMU_PX4_ID"/>
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<comment>
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use external mag
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</comment>
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<define name="AHRS_MLKF_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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</module>
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<module name="ahrs" type="vectornav">
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<configure name="VN_PORT" value="UART3"/>
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<configure name="VN_BAUD" value="B921600"/>
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<!--configure name="SECONDARY_AHRS" value="vectornav"/-->
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</module>
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<!--module name="ins" type="float_invariant">
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<define name="INS_FINV_IMU_ID" value="IMU_PX4_ID" />
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<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />
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<define name="INS_FINV_GPS_ID" value="GPS_UBX_ID" />
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<define name="SEND_INVARIANT_FILTER"/>
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</module-->
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<!-- extended INS uses sonar for vertical estimates -->
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<module name="ins" type="extended"/>
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<!-- Horizontal Filter Float (HFF) INS uses simple Kalman filters to horizontal estimate,
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No sonar/lidar updates though -->
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<!--module name="ins" type="hff"/-->
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<module name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3" />
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</module>
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART6" />
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<configure name="INTERMCU_BAUD" value="B1500000" /> <!-- This is only during first 10s start up, afterwards it is set to 230400-->
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</module>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="200" />
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</module>
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<!-- allow flashing FBW target through AP -->
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<module name="px4_flash"/>
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<!-- CPU utilization monitor -->
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<module name="sys_mon"/>
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<!-- optical flow camera over i2c-->
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<module name="px4flow_i2c">
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<configure name="USE_PX4FLOW_AGL" value="0" description="don't send AGL measurements"/>
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<comment>compensate AGL for body rotation</comment>
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<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1"/>
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<configure name="PX4FLOW_NOISE_STDDEV" value="10.0"/> <!-- standard deviation of the optical flow measurements-->
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</module>
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<!-- laser range finder for precise AGL measurement -->
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<module name="lidar_lite">
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<configure name="USE_LIDAR_LITE_AGL" value="1"/> <!-- send AGL measurements -->
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<configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
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</module>
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<!-- laser range finder for precise AGL measurement -->
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<module name="lidar_sf11">
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<configure name="USE_LIDAR_SF11_AGL" value="0"/> <!-- dont send AGL measurements -->
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<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
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</module>
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<!-- external mag for better heading estimate -->
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<module name="mag" type="hmc58xx">
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
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<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
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<define name="HMC58XX_CHAN_X" value="1"/>
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<define name="HMC58XX_CHAN_Y" value="0"/>
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<define name="HMC58XX_CHAN_Z" value="2"/>
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<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
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<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
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<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
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</module>
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<module name="air_data"/>
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<!--
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<module name="tlsf"/>
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<module name="pprzlog"/>
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/>
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-->
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</target>
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<!-- IO board / FBW MCU -->
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<target name="fbw" board="px4io_2.4">
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<configure name="PERIODIC_FREQUENCY" value="200"/>
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<module name="motor_mixing" />
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<module name="radio_control" type="ppm">
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<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1" />
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<define name="RADIO_KILL_SWITCH" value="RADIO_KILL" />
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</module>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="200" />
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</module>
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<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE" />
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<!-- Switch to Failsafe or to Autopilot on RC loss? -->
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<define name="RC_LOST_IN_AUTO_FBW_MODE" value="FBW_MODE_AUTO" />
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<define name="AP_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE" />
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<!-- Switch to Failsafe or to Manual on AP loss? -->
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<define name="INTERMCU_LOST_CNT" value="100" />
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART2" />
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<configure name="INTERMCU_BAUD" value="B1500000" />
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</module>
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</target>
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</firmware>
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<section name="MISC">
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<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
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<!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- #3 calibraton -->
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<!--
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<define name="ACCEL_X_NEUTRAL" value="-2"/>
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<define name="ACCEL_Y_NEUTRAL" value="23"/>
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<define name="ACCEL_Z_NEUTRAL" value="21"/>
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<define name="ACCEL_X_SENS" value="7.68290727703" integer="16"/>
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<define name="ACCEL_Y_SENS" value="7.41725548536" integer="16"/>
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<define name="ACCEL_Z_SENS" value="7.25648506436" integer="16"/>
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-->
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<!--#1 calibration -->
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="12"/>
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<define name="ACCEL_Z_NEUTRAL" value="23"/>
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<define name="ACCEL_X_SENS" value="7.40346702354" integer="16"/>
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<define name="ACCEL_Y_SENS" value="7.31092326815" integer="16"/>
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<define name="ACCEL_Z_SENS" value="7.60884042632" integer="16"/>
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<!-- #3 internal mag -->
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<!--
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<define name="MAG_X_NEUTRAL" value="-831"/>
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<define name="MAG_Y_NEUTRAL" value="-2458"/>
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<define name="MAG_Z_NEUTRAL" value="1623"/>
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<define name="MAG_X_SENS" value="0.383688492241" integer="16"/>
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<define name="MAG_Y_SENS" value="0.363160500566" integer="16"/>
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<define name="MAG_Z_SENS" value="0.398814954916" integer="16"/>
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-->
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<!-- #3 external mag -->
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<!--
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<define name="MAG_X_NEUTRAL" value="100"/>
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<define name="MAG_Y_NEUTRAL" value="-11"/>
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<define name="MAG_Z_NEUTRAL" value="-84"/>
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<define name="MAG_X_SENS" value="3.95372806212" integer="16"/>
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<define name="MAG_Y_SENS" value="3.85554408345" integer="16"/>
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<define name="MAG_Z_SENS" value="4.43807458722" integer="16"/>
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-->
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<!-- #1 external mag -->
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<define name="MAG_X_NEUTRAL" value="90"/>
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<define name="MAG_Y_NEUTRAL" value="-12"/>
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<define name="MAG_Z_NEUTRAL" value="3"/>
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<define name="MAG_X_SENS" value="3.9581923374" integer="16"/>
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<define name="MAG_Y_SENS" value="4.06927263588" integer="16"/>
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<define name="MAG_Z_SENS" value="4.43592657252" integer="16"/>
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<!-- #1 internal mag -->
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<!--
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<define name="MAG_X_NEUTRAL" value="-770"/>
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<define name="MAG_Y_NEUTRAL" value="2338"/>
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<define name="MAG_Z_NEUTRAL" value="-4760"/>
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<define name="MAG_X_SENS" value="0.37262897642" integer="16"/>
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<define name="MAG_Y_SENS" value="0.367752873196" integer="16"/>
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<define name="MAG_Z_SENS" value="0.388678431908" integer="16"/>
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-->
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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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<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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<rc_commands>
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<set command="THRUST" 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="YAW" value="@YAW" />
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</rc_commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="2" min="1000" neutral="1100" max="2000" />
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<servo name="TOP_RIGHT" no="0" min="1000" neutral="1100" max="2000" />
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<servo name="BOTTOM_RIGHT" no="3" min="1000" neutral="1100" max="2000" />
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<servo name="BOTTOM_LEFT" no="1" min="1000" neutral="1100" max="2000" />
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0" />
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<define name="TRIM_PITCH" value="0" />
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<define name="TRIM_YAW" value="0" />
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<define name="REVERSE" value="FALSE" />
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<define name="TYPE" value="QUAD_X" />
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</section>
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<command_laws>
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<call fun="motor_mixing_run(fbw_motors_on,FALSE,values)" />
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]" />
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]" />
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]" />
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]" />
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</command_laws>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- For vibrating airfames -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="5.0" />
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<!-- Portland
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Normalize[{19443.3, 5354.0,48519.5}] = (0.37004, 0.101896, 0.923411)-->
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<define name="H_X" value="0.37004"/>
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<define name="H_Y" value="0.101896"/>
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<define name="H_Z" value="0.923411"/>
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<!-- trust more the baro over the gps alt -->
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<define name="INV_NXZ" value="0.3"/>
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<define name="INV_NH" value="2.0"/>
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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="35." unit="deg"/>
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<define name="SP_MAX_THETA" value="35." unit="deg"/>
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<define name="SP_MAX_R" value="40." unit="deg/s"/>
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<define name="DEADBAND_A" value="5"/>
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<define name="DEADBAND_E" value="5"/>
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<define name="DEADBAND_R" value="10"/>
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<!-- inetgrator limits -->
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<define name="MAX_SUM_ERR" value="50"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- Big fat ARK Gains -->
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<define name="PHI_PGAIN" value="2700"/>
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<define name="PHI_DGAIN" value="700"/>
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<define name="PHI_IGAIN" value="5.0"/>
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<define name="THETA_PGAIN" value="2700"/>
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<define name="THETA_DGAIN" value="700"/>
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<define name="THETA_IGAIN" value="5.0"/>
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<define name="PSI_PGAIN" value="4000"/>
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<define name="PSI_DGAIN" value="3500"/>
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<define name="PSI_IGAIN" value="1.5"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="5"/>
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<define name="THETA_DDGAIN" value="5"/>
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<define name="PSI_DDGAIN" value="10"/>
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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="70" />
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<define name="HOVER_KD" value="70" />
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<define name="HOVER_KI" value="40" />
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<define name="NOMINAL_HOVER_THROTTLE" value="0.55" />
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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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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg" />
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<define name="REF_MAX_SPEED" value="2" unit="m/s" />
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="120" />
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<define name="DGAIN" value="100" />
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<define name="IGAIN" value="30" />
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="4.5" />
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<define name="DESCEND_VSPEED" value="-1.0" />
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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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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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
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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_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<!--define name="MODE_AUTO2" value="AP_MODE_HOVER_DIRECT"/-->
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<!--define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/-->
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<define name="NO_RC_THRUST_LIMIT" value="FALSE" />
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V" />
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<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V" />
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V" />
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
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</section>
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</airframe>
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