mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
286 lines
10 KiB
XML
286 lines
10 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
|
|
|
<airframe name="bebop_avoider">
|
|
<description>Vision Course TUDelft V2019
|
|
</description>
|
|
|
|
|
|
<firmware name="rotorcraft">
|
|
<target name="ap" board="bebop">
|
|
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
|
|
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/>
|
|
</target>
|
|
<target name="nps" board="pc">
|
|
<module name="fdm" type="gazebo"/>
|
|
<define name="VIDEO_CAPTURE_PATH" value="/tmp/paparazzi/images"/>
|
|
<define name="FILE_LOGGER_PATH" value="/tmp/paparazzi/log"/>
|
|
|
|
</target>
|
|
|
|
<define name="ARRIVED_AT_WAYPOINT" value="0.5"/><!-- Detect arrival at waypoint when within 0.5m -->
|
|
|
|
<!-- Subsystem section -->
|
|
<module name="telemetry" type="transparent_udp"/>
|
|
<module name="radio_control" type="datalink"/>
|
|
<module name="motor_mixing"/>
|
|
<module name="actuators" type="bebop"/>
|
|
<module name="imu" type="bebop"/>
|
|
<module name="gps" type="datalink"/>
|
|
<module name="stabilization" type="indi_simple"/>
|
|
<module name="stabilization" type="rate_indi"/>
|
|
<module name="ahrs" type="int_cmpl_quat">
|
|
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
|
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
|
|
</module>
|
|
<module name="ins" type="extended"/>
|
|
|
|
<module name="logger_file"/>
|
|
|
|
<!-- Wedgebug modules -->
|
|
<module name="wedgebug">
|
|
|
|
<define name="WEDGEBUG_CAMERA_LEFT" value = "front_camera"/>
|
|
<define name="WEDGEBUG_CAMERA_RIGHT" value = "bottom_camera"/>
|
|
|
|
<define name="WEDGEBUG_CAMERA_LEFT_FPS" value = "25"/>
|
|
<define name="WEDGEBUG_CAMERA_RIGHT_FPS" value = "25"/>
|
|
|
|
<define name="WEDGEBUG_CAMERA_LEFT_WIDTH" value = "320"/>
|
|
<define name="WEDGEBUG_CAMERA_RIGHT_WIDTH" value = "320"/>
|
|
<define name="WEDGEBUG_CAMERA_INTERLACED_WIDTH" value = "320"/>
|
|
<define name="WEDGEBUG_CAMERA_DISPARITY_WIDTH" value = "320"/>
|
|
|
|
|
|
<define name="WEDGEBUG_CAMERA_LEFT_HEIGHT" value = "240"/>
|
|
<define name="WEDGEBUG_CAMERA_RIGHT_HEIGHT" value = "240"/>
|
|
<define name="WEDGEBUG_CAMERA_INTERLACED_HEIGHT" value = "480"/>
|
|
|
|
<define name="WEDGEBUG_HFOV" value = "1.91986"/>
|
|
<define name="WEDGEBUG_CAMERA_FOCAL_LENGTH" value = "112"/>
|
|
<define name="WEDGEBUG_CAMERA_BASELINE" value = "120"/>
|
|
|
|
<define name="NUMBER_OF_STATES" value = "7"/>
|
|
</module>
|
|
|
|
|
|
<!-- Video/Camera modules -->
|
|
<module name="bebop_cam"/>
|
|
<!--module name="bebop_ae_awb">
|
|
<define name="CV_AE_AWB_VERBOSE" value="0" />
|
|
</module-->
|
|
<module name="video_capture">
|
|
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
|
|
<define name="VIDEO_CAPTURE_FPS" value="10"/>
|
|
</module>
|
|
|
|
<module name="video_rtp_stream">
|
|
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
|
|
<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
|
|
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
|
|
<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
|
|
</module>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</firmware>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="6000"/>
|
|
</commands>
|
|
|
|
<servos driver="Default">
|
|
<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800" />
|
|
<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800" />
|
|
<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800" />
|
|
<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800" />
|
|
</servos>
|
|
|
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
|
<define name="TRIM_ROLL" value="0"/>
|
|
<define name="TRIM_PITCH" value="0"/>
|
|
<define name="TRIM_YAW" value="0"/>
|
|
<define name="TYPE" value="QUAD_X"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
|
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
|
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
|
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
|
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
|
</command_laws>
|
|
|
|
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
|
|
<define name="OUTPUT_HEIGHT" value="520" />
|
|
<define name="OUTPUT_WIDTH" value="240" />
|
|
<define name="OFFSET_X" value="0.09" />
|
|
<define name="ZOOM" value="1.25"/>
|
|
<define name="GAIN_GREEN1" value="10.0"/>
|
|
<define name="GAIN_GREEN2" value="10.0"/>
|
|
<define name="GAIN_BLUE" value="12.5"/>
|
|
<define name="GAIN_RED" value="9.0"/>
|
|
<define name="TARGET_EXPOSURE" value="30" />
|
|
</section>
|
|
|
|
<section name="AIR_DATA" prefix="AIR_DATA_">
|
|
<define name="CALC_AIRSPEED" value="FALSE"/>
|
|
<define name="CALC_TAS_FACTOR" value="FALSE"/>
|
|
<define name="CALC_AMSL_BARO" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
<!-- Magneto calibration -->
|
|
<define name="MAG_X_NEUTRAL" value="0"/>
|
|
<define name="MAG_Y_NEUTRAL" value="0"/>
|
|
<define name="MAG_Z_NEUTRAL" value="0"/>
|
|
</section>
|
|
|
|
<!-- local magnetic field -->
|
|
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
|
<section name="AHRS" prefix="AHRS_">
|
|
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
|
<!-- Delft -->
|
|
<define name="H_X" value="0.3892503"/>
|
|
<define name="H_Y" value="0.0017972"/>
|
|
<define name="H_Z" value="0.9211303"/>
|
|
|
|
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
|
|
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
|
|
|
<!-- Use GPS altitude measurments and set the R gain -->
|
|
<define name="USE_GPS_ALT" value="1"/>
|
|
<define name="VFF_R_GPS" value="0.01"/>
|
|
</section>
|
|
|
|
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
|
|
<!-- setpoint limits for attitude stabilization rc flight -->
|
|
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
|
<define name="SP_MAX_R" value="120" unit="deg/s"/>
|
|
<define name="DEADBAND_A" value="0"/>
|
|
<define name="DEADBAND_E" value="0"/>
|
|
<define name="DEADBAND_R" value="50"/>
|
|
</section>
|
|
|
|
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
|
|
<!-- attitude reference generation model -->
|
|
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.9"/>
|
|
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.9"/>
|
|
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.9"/>
|
|
<define name="REF_MAX_R" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
|
|
</section>
|
|
|
|
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
|
<!-- control effectiveness -->
|
|
<define name="G1_P" value="0.0397"/>
|
|
<define name="G1_Q" value="0.0299"/>
|
|
<define name="G1_R" value="0.0014"/>
|
|
<define name="G2_R" value="0.1219"/>
|
|
|
|
<!-- reference acceleration for attitude control -->
|
|
<define name="REF_ERR_P" value="600.0"/>
|
|
<define name="REF_ERR_Q" value="600.0"/>
|
|
<define name="REF_ERR_R" value="600.0"/>
|
|
<define name="REF_RATE_P" value="28.0"/>
|
|
<define name="REF_RATE_Q" value="28.0"/>
|
|
<define name="REF_RATE_R" value="28.0"/>
|
|
|
|
<!--Maxium yaw rate, to avoid instability-->
|
|
<define name="MAX_R" value="30" unit="deg/s"/>
|
|
|
|
<!-- second order filter parameters -->
|
|
<define name="FILT_CUTOFF" value="8.0"/>
|
|
<define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
|
|
|
|
<!-- first order actuator dynamics -->
|
|
<define name="ACT_DYN_P" value="0.1"/>
|
|
<define name="ACT_DYN_Q" value="0.1"/>
|
|
<define name="ACT_DYN_R" value="0.1"/>
|
|
|
|
<!-- Adaptive Learning Rate -->
|
|
<define name="USE_ADAPTIVE" value="FALSE"/>
|
|
<define name="ADAPTIVE_MU" value="0.0001"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
<define name="HOVER_KP" value="283"/>
|
|
<define name="HOVER_KD" value="82"/>
|
|
<define name="HOVER_KI" value="20"/>
|
|
<define name="NOMINAL_HOVER_THROTTLE" value="0.68"/>
|
|
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
|
|
|
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.68" />
|
|
<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.55" />
|
|
<define name="ADAPT_MAX_HOVER_THROTTLE" value="0.72" />
|
|
<!-- <define name="ADAPT_NOISE_FACTOR" value="0.8" /> -->
|
|
</section>
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<!-- Good weather -->
|
|
<define name="MAX_BANK" value="20" unit="deg"/>
|
|
<define name="REF_MAX_SPEED" value="0.5" unit="m/s"/>
|
|
<!-- Bad weather -->
|
|
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
|
<define name="PGAIN" value="120"/>
|
|
<define name="DGAIN" value="230"/>
|
|
<define name="IGAIN" value="40"/>
|
|
</section>
|
|
|
|
<section name="NAVIGATION" prefix="NAV_">
|
|
<define name="CLIMB_VSPEED" value="1.0"/>
|
|
<define name="DESCEND_VSPEED" value="-0.75"/>
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
|
<define name="JSBSIM_MODEL" value="bebop" type="string"/>
|
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
|
<define name="MT9F002_SENSOR_RES_DIVIDER" value="4"/>
|
|
</section>
|
|
<include href="conf/simulator/gazebo/airframes/bebop_w_stereo_cams.xml"/>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
|
|
|
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
|
|
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
|
|
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
|
|
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
|
</section>
|
|
</airframe>
|