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paparazzi/conf/airframes/esden/cocto_lm2a2.xml
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<!-- this is a coaxial x configuration octocopter frame equiped with Lisa/M 2.0, Aspirin 2.1 and generic china pwm motor controllers -->
<!--
Applicable configuration:
airframe="airframes/esden/cocto_lm2a2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->
<airframe name="cocto_lm2a2">
<!--
Top rotors top view
Front
^
A1U___|___B1U
| |
| |
| |
A2U_______B2U
Bottom rotors top view
Front
^
A1L___|___B1L
| |
| |
| |
A2L_______B2L
Rotor rotation directions
A1U -> CW
A1L -> CCW
A2U -> CW
A2L -> CCW
B1U -> CCW
B1L -> CW
B2U -> CCW
B2L -> CW
-->
<servos driver="Pwm">
<servo name="A1U" no="0" min="1000" neutral="1100" max="1950"/>
<servo name="A1L" no="1" min="1000" neutral="1100" max="1950"/>
<servo name="A2U" no="2" min="1000" neutral="1100" max="1950"/>
<servo name="A2L" no="3" min="1000" neutral="1100" max="1950"/>
<servo name="B1U" no="4" min="1000" neutral="1100" max="1950"/>
<servo name="B1L" no="5" min="1000" neutral="1100" max="1950"/>
<servo name="B2U" no="6" min="1000" neutral="1100" max="1950"/>
<servo name="B2L" no="7" min="1000" neutral="1100" max="1950"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="A1U" value="motor_mixing.commands[SERVO_A1U]"/>
<set servo="A1L" value="motor_mixing.commands[SERVO_A1L]"/>
<set servo="A2U" value="motor_mixing.commands[SERVO_A2U]"/>
<set servo="A2L" value="motor_mixing.commands[SERVO_A2L]"/>
<set servo="B1U" value="motor_mixing.commands[SERVO_B1U]"/>
<set servo="B1L" value="motor_mixing.commands[SERVO_B1L]"/>
<set servo="B2U" value="motor_mixing.commands[SERVO_B2U]"/>
<set servo="B2L" value="motor_mixing.commands[SERVO_B2L]"/>
</command_laws>
<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="NB_MOTOR" value="8"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 256, 256, 256, 256, -256, -256, -256, -256}"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256, 256, 256, -256, -256}"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256, 256, -256, 256, -256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256, 256, 256}"/>
</section>
<include href="conf/airframes/esden/calib/asp21-018.xml"/>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="180." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="270." unit="deg"/>
</section>
<section name="AUTOPILOT">
<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_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="0"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<!--load name="vehicle_interface_overo_link.xml"/-->
<load name="gps_ubx_ucenter.xml"/>
<load name="led_safety_status.xml">
<define name="SAFETY_WARNING_LED" value="5"/>
</load>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_m_2.0">
<configure name="SYS_TIME_LED" value="none"/>
</target>
<target name="test_uart" board="lisa_m_2.0"/>
<target name="test_servos" board="lisa_m_2.0"/>
<target name="test_telemetry" board="lisa_m_2.0"/>
<target name="test_imu_aspirin" board="lisa_m_2.0"/>
<target name="test_rc_spektrum" board="lisa_m_2.0"/>
<target name="test_baro" board="lisa_m_2.0"/>
<target name="test_imu_b2" board="lisa_m_2.0"/>
<target name="test_can" board="lisa_m_2.0"/>
<!--<target name="test_imu" board="lisa_m_2.0"/>
<target name="test_rc_ppm" board="lisa_m_2.0"/>
<target name="test_adc" board="lisa_m_2.0"/>
<target name="test_hmc5843" board="lisa_m_2.0"/>
<target name="test_itg3200" board="lisa_m_2.0"/>
<target name="test_adxl345" board="lisa_m_2.0"/>
<target name="test_esc_mkk_simple" board="lisa_m_2.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
<target name="test_actuators_mkk" board="lisa_m_2.0"/>
<target name="test_actuators_asctecv1" board="lisa_m_2.0"/-->
</firmware>
</airframe>
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