mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
235 lines
8.5 KiB
XML
235 lines
8.5 KiB
XML
<!--
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This is a DelFly II airframe equiped with Lisa/S 1.0
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this version of DelFly is equipped with 4 servos and a motor controller
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2 - dual-servos are used which need 2 pulses every 20 millisecond:
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pulse1 (1-2ms) 4ms pulse2 (1-2ms) 16ms
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-->
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<!--
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Applicable configuration:
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airframe="airframes/BR/DelFlyDualPWMServo.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
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-->
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<airframe name="quadrotor_lisa_s">
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<servos driver="Pwm">
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<servo name="MOTOR" no="0" min="1100" neutral="1100" max="2000"/>
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</servos>
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<servos driver="Dualpwm">
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<servo name="TOUW2" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="TOUW3" no="1" min="1100" neutral="1100" max="1900"/>
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<servo name="TOUW4" no="2" min="1100" neutral="1100" max="1900"/>
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<servo name="TOUW1" no="3" min="1100" neutral="1100" max="1900"/>
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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_get_motors_on(),FALSE,values)"/>
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<set servo="TOUW1" value="+@ROLL-@PITCH+@YAW"/>
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<set servo="TOUW2" value="-@ROLL-@PITCH-@YAW"/>
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<set servo="TOUW3" value="@PITCH-@ROLL+@YAW"/>
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<set servo="TOUW4" value="@PITCH+@ROLL-@YAW"/>
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<set servo="MOTOR" value="@THRUST" />
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</command_laws>
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<!--
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOUW1" value="motor_mixing.commands[0]"/>
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<set servo="TOUW2" value="motor_mixing.commands[1]"/>
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<set servo="TOUW3" value="motor_mixing.commands[2]"/>
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<set servo="TOUW4" value="motor_mixing.commands[3]"/>
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<set servo="MOTOR" value="@THRUST" />
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</command_laws>
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-->
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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="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="-105." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- MAGNETO CALIBRATION ANTWERPEN
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<define name="MAG_X_NEUTRAL" value="-147"/>
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<define name="MAG_Y_NEUTRAL" value="152"/>
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<define name="MAG_Z_NEUTRAL" value="-5"/>
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<define name="MAG_X_SENS" value="3.56142779007" integer="16"/>
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<define name="MAG_Y_SENS" value="3.82223743533" integer="16"/>
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<define name="MAG_Z_SENS" value="4.15618897164" integer="16"/> -->
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<!-- MAGNETO CALIBRATION DELFT-->
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<define name="MAG_X_NEUTRAL" value="10"/>
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<define name="MAG_Y_NEUTRAL" value="238"/>
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<define name="MAG_Z_NEUTRAL" value="-74"/>
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<define name="MAG_X_SENS" value="3.67001348283" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98840260231" integer="16"/>
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<define name="MAG_Z_SENS" value="4.32568461736" integer="16"/>
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<!-- MAGNETO CURRENT CALIBRATION -->
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<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
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<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
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<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_RC_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
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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="14000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
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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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<!-- 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="400." 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="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="400." 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="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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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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<!-- feedback -->
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<define name="PHI_PGAIN" value="400"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="400"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="500"/>
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<define name="PSI_DGAIN" value="300"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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<define name="PHI_AGAIN" value="0"/>
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<define name="THETA_AGAIN" value="0"/>
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<define name="PSI_AGAIN" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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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="276"/>
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<define name="HOVER_KD" value="455"/>
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<define name="HOVER_KI" value="100"/>
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<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- Delft magnetic field -->
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<define name="H_X" value="0.39049610"/>
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<define name="H_Y" value="0.00278894"/>
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<define name="H_Z" value="0.92060036"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="90"/>
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<define name="DGAIN" value="50"/>
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<define name="IGAIN" value="24"/>
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</section>
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<modules main_freq="512">
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_s_1.0">
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<module name="radio_control" type="superbitrf_rc">
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<define name="RADIO_MODE" value="RADIO_GEAR"/>
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<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
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<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
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</module>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="50"/>
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<define name="USE_SERVOS_1AND2"/>
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</module>
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<module name="actuators" type="dualpwm">
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<define name="DUAL_PWM_ON"/>
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</module>
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<!--<module name="telemetry" type="superbitrf"/>-->
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<!-- Comment the previous line and uncomment the following one if you need
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to use the debug serial interface for telemetry. -->
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<module name="telemetry" type="superbitrf"/>
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<module name="imu" type="lisa_s_v1.0">
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<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
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</module>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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<define name="AHRS_USE_GPS_HEADING" value="0"/>
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</module>
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<module name="ins"/>
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</firmware>
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</airframe>
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