mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
241 lines
9.3 KiB
XML
241 lines
9.3 KiB
XML
<!-- this is a quadshot vehicle equiped with Lia -->
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<!-- Copyright (C) 2012, Pranay Sinha, Piotr Esden-Tempski, Transition Robotics, Inc. -->
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<airframe name="gain_scheduling_example">
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<servos driver="Pwm">
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<servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
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<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
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<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="ELEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
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</servos>
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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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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
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<set servo="A2" value="motor_mixing.commands[SERVO_A2]"/>
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<set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
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<set servo="B2" value="motor_mixing.commands[SERVO_B2]"/>
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<let var="aileron_feedback_left" value="-@YAW"/>
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<let var="aileron_feedback_right" value="-@YAW"/>
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<let var="elevator_feedback_left" value="-@PITCH * (9600 + @THRUST)/9600"/>
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<let var="elevator_feedback_right" value="+@PITCH * (9600 + @THRUST)/9600"/>
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<let var="hover_left" value="6*$aileron_feedback_left+$elevator_feedback_left"/>
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<let var="hover_right" value="6*$aileron_feedback_right+$elevator_feedback_right"/>
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<set servo="ELEVON_LEFT" value= "$hover_left" />
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<set servo="ELEVON_RIGHT" value= "$hover_right"/>
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</command_laws>
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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="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, 128, -128 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<include href="conf/airframes/esden/calib/asp21-018.xml"/>
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<section name="IMU" prefix="IMU_">
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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="90." 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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<section name="AUTOPILOT">
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<define name="MODE_AUTO1" 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_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="AUTOPILOT_KILL_WITHOUT_AHRS" value="TRUE"/>
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<define name="LOBATT_WING_WAGGLE" value="TRUE"/>
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<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
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</section>
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<section name="BAT">
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<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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</section>
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<!--////////////////THIS SECTION CONTAINS THE GAINS FOR DIFFERENT SETPOINTS\\\\\\\\\\\\\\\\\\-->
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<section name ="GAIN_SETS">
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<define name="NUMBER_OF_GAINSETS" value="2"/>
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<define name="SCHEDULING_VARIABLE" value="stab_att_sp_euler.theta"/>
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<define name="SCHEDULING_POINTS" value="{0, 20*M_PI/180}"/>
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<define name="SCHEDULING_VARIABLE_FRAC" value="12"/>
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<define name="PHI_P" value="{0, 1000}"/>
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<define name="PHI_D" value="{0, 1000}"/>
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<define name="PHI_I" value="{0, 1000}"/>
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<define name="PHI_DD" value="{0, 1000}"/>
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<define name="PSI_P" value="{0, 1000}"/>
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<define name="PSI_D" value="{0, 1000}"/>
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<define name="PSI_I" value="{0, 1000}"/>
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<define name="PSI_DD" value="{0, 1000}"/>
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<define name="THETA_P" value="{0, 1000}"/>
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<define name="THETA_D" value="{0, 1000}"/>
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<define name="THETA_I" value="{0, 1000}"/>
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<define name="THETA_DD" value="{0, 1000}"/>
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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="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_PSI" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="SP_MAX_P" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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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="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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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="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<define name="PHI_PGAIN" value="230"/>
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<define name="PHI_DGAIN" value="170"/>
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<define name="PHI_IGAIN" value="30"/>
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<define name="THETA_PGAIN" value="300"/>
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<define name="THETA_DGAIN" value="50"/>
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<define name="THETA_IGAIN" value="40"/>
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<define name="PSI_PGAIN" value="300"/>
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<define name="PSI_DGAIN" value="150"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 0"/>
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<define name="THETA_DDGAIN" value=" 140"/>
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<define name="PSI_DDGAIN" value=" 0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="22.4" integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="200"/>
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<define name="HOVER_KD" value="175"/>
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<define name="HOVER_KI" value="72"/>
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<define name="RC_CLIMB_COEF" value ="163"/>
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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<define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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<load name="led_safety_status.xml">
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<define name="USE_LED_BODY" value="1"/>
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<define name="SAFETY_WARNING_LED" value="BODY"/>
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</load>
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<load name="gain_scheduling.xml"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<subsystem name="radio_control" type="ppm">
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<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
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</subsystem>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</subsystem>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<!--subsystem name="imu" type="aspirin_v1.0"/-->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0"/>
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<define name="AHRS_USE_GPS_HEADING" value="1"/>
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</subsystem>
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<subsystem name="ins"/>
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<!--define name="USE_INS_NAV_INIT"/-->
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<!--subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/-->
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</firmware>
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</airframe>
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