mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
189 lines
6.2 KiB
XML
189 lines
6.2 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- SPirit Of Corsica III
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Ailerons, elevator, NO rudder
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Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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arduIMU i2c
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XBee modem (transparent)
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Current sensor
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-->
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<airframe name="Spoc III Tiny 2.1">
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<modules>
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<load name="ins_arduimu_basic.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="ALT_KALMAN"/>
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<define name="LOITER_TRIM"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="USE_I2C0"/>
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</target>
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<subsystem name="radio_control" type="datalink"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<!--subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem-->
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="7" min="1000" neutral="1000" max="2000"/>
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<servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/>
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<!-- Wing 1 -->
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<servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
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<servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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</section>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.26" unit="rad" />
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
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<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.04"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.5"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.20599997044"/>
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<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="-8200"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="2500"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-8500"/>
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<define name="ROLL_RATE_GAIN" value="-2700"/>
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<define name="ROLL_KFF" value="-500"/>
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<define name="ROLL_IGAIN" value="-500"/>
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<define name="PITCH_IGAIN" value="-500"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="JSBSIM_MODEL" value=""Corsica""/>
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<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
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<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
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</section>
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</airframe>
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