mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
256 lines
9.1 KiB
XML
256 lines
9.1 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="TwinStarXSens">
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<servos driver="Ppm">
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<servo name="THROTTLE_LEFT" no="1" min="1100" neutral="1100" max="1900"/>
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<servo name="THROTTLE_RIGHT" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="AILERON_RIGHT" no="2" min="2300" neutral="1550" max="700"/>
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<servo name="AILERON_LEFT" no="3" min="2300" neutral="1550" max="700"/>
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<servo name="ELEVATOR" no="4" min="1100" neutral="1500" max="1900"/>
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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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<axis name="YAW" failsafe_value="0"/>
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<axis name="BRAKE" 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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<set command="BRAKE" value="@YAW"/>
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</rc_commands>
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<section name="SERVO_MIXER_GAINS">
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<define name="AILERON_RATE_UP" value="0.50f"/>
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<define name="AILERON_RATE_DOWN" value="0.25f"/>
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<define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
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<define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
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<define name="PITCH_GAIN" value="0.9f"/>
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<define name="YAW_THRUST" value="0.0f"/>
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<define name="BRAKE_AILEVON" value="-0.68f"/>
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<define name="BRAKE_PITCH" value="0.0f"/>
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<define name="MAX_BRAKE_RATE" value="130"/>
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</section>
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<command_laws>
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<!-- Brake Rate Limiter -->
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<let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
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<ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
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<!-- Differential Aileron Depending on Brake Value -->
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<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
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<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
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<let var="aileron_up" value="((-@ROLL) * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
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<let var="aileron_down" value="((-@ROLL) * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
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<let var="leftturn" value="((-@ROLL) >= 0? 1 : 0)"/>
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<let var="rightturn" value="(1 - $leftturn)"/>
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<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON)"/>
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<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON)"/>
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<!-- Differential Thurst -->
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<set servo="THROTTLE_LEFT" value="@THROTTLE - @ROLL * (YAW_THRUST)"/>
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<set servo="THROTTLE_RIGHT" value="@THROTTLE + @ROLL * (YAW_THRUST)"/>
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<!-- Pitch with Brake-Trim Function -->
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<set servo="ELEVATOR" value="-@PITCH * PITCH_GAIN + BRAKE_PITCH * $brake_value"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.7"/>
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<define name="MAX_PITCH" value="0.7"/>
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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"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- Local magnetic field -->
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<define name="H_X" value="0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value="0.85490967783446"/>
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</section>
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<section name="XSENS">
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<define name="GPS_IMU_LEVER_ARM_X" value="0.0f"/>
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<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
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<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
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</section>
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<section name="ADC" prefix="ADC_CHANNEL_">
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<define name="CURRENT" value="AdcBank1(5)"/>
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</section>
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<section name="BAT">
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<define name="VoltageOfAdc(adc)" value="(0.01688000f*(adc)+2)"/>
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<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.45" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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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="0.75"/>
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<define name="COURSE_DGAIN" value="0.45"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.935"/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.275" unit="radians"/>
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<define name="PITCH_PGAIN" value="11000"/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="1000."/>
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<!-- roll rate loop -->
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<define name="ROLL_ATTITUDE_GAIN" value="7000."/>
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<define name="ROLL_RATE_GAIN" value="1100"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.1"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3.0"/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".38"/>
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.62"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000."/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0."/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.175"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
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</section>
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<section name="NAV">
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<define name="AGR_CLIMB_PITCH" value="0."/> <!-- Needed For OSAMNav -->
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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<define name="COMMAND_ROLL_TRIM" value="180"/>
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<define name="COMMAND_PITCH_TRIM" value="-194."/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_PERIOD" value="2.0" unit="sec"/>
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<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
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</section>
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<firmware name="fixedwing">
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<target name="ap" board="classix">
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="USE_AD0"/>
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<define name="USE_AD0_3"/>
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<define name="ADC_6" value="AdcBank0\(3\)"/>
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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</target>
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<target name="fbw" board="classix">
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="RADIO_CONTROL_LED" value="1"/>
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<define name="USE_AD1_5" value="1"/>
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<define name="USE_AD1" value="1"/>
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<configure name="ACTUATORS" value="actuators_ppm"/>
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<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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</target>
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<define name="DC_IMAGE_BUFFER" value="65000" />
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="RADIO_CONTROL_AUTO1"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api">
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<configure name="MODEM_PORT" value="UART0"/>
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<module name="ins" type="xsens">
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<configure name="XSENS_PORT" value="uart1"/>
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</module>
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</firmware>
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<modules>
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO15"/>
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</load>
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<load name="adc_generic.xml">
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<define name="ADC_CHANNEL_GENERIC_NB_SAMPLES" value="32"/>
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_6"/> <!-- e.g. current sensor -->
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</load>
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<load name="photogrammetry_calculator.xml" />
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<load name="nav_line.xml"/>
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</modules>
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<!--+-+-+-+-+-+-+- PHOTOGRAMMETRY -+-+-+-+-+-+-+-->
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<section name="Photogrammetry" prefix="PHOTOGRAMMETRY_">
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<!-- Camera Parameters -->
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<define name="FOCAL_LENGTH" value="20" unit="mm"/>
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<define name="SENSOR_WIDTH" value="24" unit="mm"/>
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<define name="SENSOR_HEIGHT" value="13.5" unit="mm"/>
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<define name="PIXELS_WIDTH" value="1280" unit=""/>
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<!-- Flight Safety Parameters -->
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<define name="HEIGHT_MIN" value="40" unit="m"/>
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<define name="HEIGHT_MAX" value="300" unit="m"/>
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<define name="RADIUS_MIN" value="70" unit="m"/>
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</section>
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</airframe>
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