mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
259 lines
12 KiB
XML
259 lines
12 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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<description>3DR IRIS
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="px4fmu_2.4" />
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<define name="BAT_CHECKER_DELAY" value="80" />
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<define name="RADIO_MODE_2x3" value="true"/>
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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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<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
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<!-- in seconds-->
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<module name="telemetry" type="transparent" />
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<module name="imu" type="px4fmu_v2.4"/>
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<module name="gps" type="ublox" >
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<configure name="GPS_BAUD" value="B57600"/>
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</module>
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<module name="gps" type="ubx_ucenter" />
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<module name="stabilization" type="indi_simple" />
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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" /> <!-- Meaning the lsm303 and l3g -->
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
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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="ins" type="extended" />
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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"> <!-- gimbal and buzzer -->
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<define name="SERVO_HZ" value="400" />
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</module>
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<module name="px4_flash">
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<configure name="PX4IO_UART" value="uart6"/>
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</module>
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<module name="px4_gimbal" />
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<module name="geo_mag" />
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<module name="air_data" />
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<module name="send_imu_mag_current" />
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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="spektrum_soft_bind"/>-->
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</firmware>
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<firmware name="rotorcraft">
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<target name="fbw" board="px4io_2.4" />
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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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<define name="FBW_MODE_AUTO_ONLY" value="true"/>
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<!-- <module name="radio_control" type="spektrum">-->
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<!-- <define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>-->
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<!-- <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>-->
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<!-- <define name="RADIO_FBW_MODE" value="RADIO_AUX2"/>-->
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<!-- <define name="RADIO_MODE" value="RADIO_GEAR"/>-->
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<!-- <define name="SPEKTRUM_HAS_SOFT_BIND_PIN" value="1"/>-->
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<!-- </module>-->
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400" />
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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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</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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<!-- replace this with your own calibration -->
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<define name="ACCEL_X_NEUTRAL" value="49"/>
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<define name="ACCEL_Y_NEUTRAL" value="6"/>
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<define name="ACCEL_Z_NEUTRAL" value="104"/>
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<define name="ACCEL_X_SENS" value="7.53390969897" integer="16"/>
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<define name="ACCEL_Y_SENS" value="7.35267287758" integer="16"/>
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<define name="ACCEL_Z_SENS" value="7.45488455799" integer="16"/>
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<!--Calibrated outside, based on sw/tools/calibration/calibrate.py -s MAG var/logs/16_12_05__16_32_21.data -vp -->
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<define name="MAG_X_NEUTRAL" value="105"/>
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<define name="MAG_Y_NEUTRAL" value="10"/>
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<define name="MAG_Z_NEUTRAL" value="-23"/>
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<define name="MAG_X_SENS" value="4.01453293111" integer="16"/>
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<define name="MAG_Y_SENS" value="3.96379405627" integer="16"/>
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<define name="MAG_Z_SENS" value="3.92499630895" integer="16"/>
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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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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE" />
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<define name="CALC_TAS_FACTOR" value="FALSE" />
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<define name="CALC_AMSL_BARO" value="TRUE" />
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</section>
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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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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Delft -->
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<define name="H_X" value="0.3892503" />
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<define name="H_Y" value="0.0017972" />
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<define name="H_Z" value="0.9211303" />
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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="2.2" />
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</section>
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<section name="RC_SETPOINT" 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="300" 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="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s" />
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<define name="REF_ZETA_P" value="0.9" />
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<define name="REF_MAX_P" value="600." 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="450" unit="deg/s" />
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<define name="REF_ZETA_Q" value="0.9" />
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<define name="REF_MAX_Q" value="600." 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="450" unit="deg/s" />
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<define name="REF_ZETA_R" value="0.9" />
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<define name="REF_MAX_R" value="600." unit="deg/s" />
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)" />
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.017837" />
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<define name="G1_Q" value="0.018315" />
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<define name="G1_R" value="0.001049" />
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<define name="G2_R" value="0.076486" />
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<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
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<define name="FILTER_ROLL_RATE" value="FALSE" />
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<define name="FILTER_PITCH_RATE" value="FALSE" />
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<define name="FILTER_YAW_RATE" value="FALSE" />
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="100.0" />
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<define name="REF_ERR_Q" value="100.0" />
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<define name="REF_ERR_R" value="100.0" />
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<define name="REF_RATE_P" value="14.0" />
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<define name="REF_RATE_Q" value="14.0" />
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<define name="REF_RATE_R" value="14.0" />
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.04" />
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<define name="ACT_DYN_Q" value="0.04" />
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<define name="ACT_DYN_R" value="0.04" />
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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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<!-- max rates (conservative) -->
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<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
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<define name="STABILIZATION_INDI_MAX_R" value="120" unit="deg/s"/>
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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="350" />
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<define name="HOVER_KD" value="85" />
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<define name="HOVER_KI" value="20" />
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<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
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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="50" />
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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="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_HOVER_Z_HOLD" />
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<define name="MODE_AUTO2" value="AP_MODE_NAV" />
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<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
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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="9.2" unit="V" />
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<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V" />
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<define name="LOW_BAT_LEVEL" value="10.2" 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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