mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
Antoine Drouin
206 lines
6.2 KiB
XML
206 lines
6.2 KiB
XML
<airframe name="BOOZ2">
|
|
|
|
<servos min="0" neutral="0" max="0xff">
|
|
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
|
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
|
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
|
|
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="FRONT" failsafe_value="0"/>
|
|
<axis name="BACK" failsafe_value="0"/>
|
|
<axis name="RIGHT" failsafe_value="0"/>
|
|
<axis name="LEFT" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
|
|
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
|
|
</section>
|
|
|
|
|
|
<section name="MICROMAG">
|
|
|
|
<define name="MM_SS_PIN" value="20"/>
|
|
<define name="MM_SS_IODIR" value="IO0DIR"/>
|
|
<define name="MM_SS_IOSET" value="IO0SET"/>
|
|
<define name="MM_SS_IOCLR" value="IO0CLR"/>
|
|
|
|
<define name="MM_RESET_PIN" value="21"/>
|
|
<define name="MM_RESET_IODIR" value="IO1DIR"/>
|
|
<define name="MM_RESET_IOSET" value="IO1SET"/>
|
|
<define name="MM_RESET_IOCLR" value="IO1CLR"/>
|
|
|
|
<define name="MM_DRDY_PIN" value="15"/>
|
|
<define name="MM_DRDY_PINSEL" value="PINSEL0"/>
|
|
<define name="MM_DRDY_PINSEL_BIT" value="30"/>
|
|
<define name="MM_DRDY_PINSEL_VAL" value="2"/>
|
|
<define name="MM_DRDY_EINT" value="2"/>
|
|
<define name="MM_DRDY_VIC_IT" value="VIC_EINT2"/>
|
|
|
|
</section>
|
|
|
|
<!-- IMU v3 -->
|
|
<!--
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_X_CHAN" value="0"/>
|
|
<define name="GYRO_Y_CHAN" value="1"/>
|
|
<define name="GYRO_Z_CHAN" value="2"/>
|
|
|
|
<define name="GYRO_X_NEUTRAL" value="40852"/>
|
|
<define name="GYRO_Y_NEUTRAL" value="40916"/>
|
|
<define name="GYRO_Z_NEUTRAL" value="39616"/>
|
|
|
|
<define name="GYRO_X_SENS" value="( 4541.3261)"/>
|
|
<define name="GYRO_Y_SENS" value="( 4651.1628)"/>
|
|
<define name="GYRO_Z_SENS" value="( 4752.8517)"/>
|
|
|
|
<define name="ACCEL_X_CHAN" value="2"/>
|
|
<define name="ACCEL_Y_CHAN" value="1"/>
|
|
<define name="ACCEL_Z_CHAN" value="3"/>
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="17732"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="16555"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="16645"/>
|
|
|
|
<define name="ACCEL_X_SENS" value="(-829.62787)"/>
|
|
<define name="ACCEL_Y_SENS" value="( 829.60535)"/>
|
|
<define name="ACCEL_Z_SENS" value="(-826.85295)"/>
|
|
|
|
|
|
<define name="MAG_X_CHAN" value="0"/>
|
|
<define name="MAG_Y_CHAN" value="1"/>
|
|
<define name="MAG_Z_CHAN" value="2"/>
|
|
|
|
|
|
<define name="MAG_X_NEUTRAL" value="0"/>
|
|
<define name="MAG_Y_NEUTRAL" value="0"/>
|
|
<define name="MAG_Z_NEUTRAL" value="0"/>
|
|
|
|
<define name="MAG_X_SENS" value=" 1000."/>
|
|
<define name="MAG_Y_SENS" value=" 1000."/>
|
|
<define name="MAG_Z_SENS" value=" 1000."/>
|
|
|
|
|
|
</section>
|
|
-->
|
|
|
|
<!-- crista -->
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_X_CHAN" value="4"/>
|
|
<define name="GYRO_Y_CHAN" value="0"/>
|
|
<define name="GYRO_Z_CHAN" value="1"/>
|
|
|
|
<define name="GYRO_X_NEUTRAL" value="32734"/>
|
|
<define name="GYRO_Y_NEUTRAL" value="32272"/>
|
|
<define name="GYRO_Z_NEUTRAL" value="32420"/>
|
|
|
|
<define name="GYRO_X_SENS" value="(-4000.)"/>
|
|
<define name="GYRO_Y_SENS" value="(-4000.)"/>
|
|
<define name="GYRO_Z_SENS" value="( 4000.)"/>
|
|
|
|
<define name="ACCEL_X_CHAN" value="2"/>
|
|
<define name="ACCEL_Y_CHAN" value="5"/>
|
|
<define name="ACCEL_Z_CHAN" value="6"/>
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="39913"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="40135"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="39755"/>
|
|
|
|
<define name="ACCEL_X_SENS" value="( 171)"/>
|
|
<define name="ACCEL_Y_SENS" value="( 167)"/>
|
|
<define name="ACCEL_Z_SENS" value="( 167)"/>
|
|
|
|
|
|
<define name="MAG_X_CHAN" value="4"/>
|
|
<define name="MAG_Y_CHAN" value="0"/>
|
|
<define name="MAG_Z_CHAN" value="2"/>
|
|
|
|
|
|
<define name="MAG_X_NEUTRAL" value="2038"/>
|
|
<define name="MAG_Y_NEUTRAL" value="1945"/>
|
|
<define name="MAG_Z_NEUTRAL" value="1957"/>
|
|
|
|
<define name="MAG_X_SENS" value="-401."/>
|
|
<define name="MAG_Y_SENS" value=" 388."/>
|
|
<define name="MAG_Z_SENS" value="-414."/>
|
|
|
|
|
|
</section>
|
|
|
|
<section name="STABILIZATION_RATE" prefix="BOOZ_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="BOOZ_STABILIZATION_ATTITUDE_">
|
|
|
|
<define name="SP_MAX_PHI" value="3000"/>
|
|
<define name="SP_MAX_THETA" value="3000"/>
|
|
<define name="SP_MAX_R" value="5500"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
|
|
<define name="PHI_THETA_PGAIN" value="-400"/>
|
|
<define name="PHI_THETA_DGAIN" value="-300"/>
|
|
<define name="PHI_THETA_DDGAIN" value="0"/>
|
|
<define name="PHI_THETA_IGAIN" value="-100"/>
|
|
|
|
<define name="PSI_PGAIN" value="-380"/>
|
|
<define name="PSI_DGAIN" value="-320"/>
|
|
<define name="PSI_DDGAIN" value="0"/>
|
|
<define name="PSI_IGAIN" value="-75"/>
|
|
|
|
</section>
|
|
|
|
<section name="FILTER" prefix="FILTER_">
|
|
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(-0.5))"/>
|
|
<define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(2.5))"/>
|
|
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0)"/>
|
|
</section>
|
|
|
|
|
|
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
|
|
<define name="HOVER_POWER" value="65"/>
|
|
<define name="HOVER_KP" value="-200"/>
|
|
<define name="HOVER_KD" value="-100"/>
|
|
<define name="HOVER_KI" value="-50"/>
|
|
</section>
|
|
|
|
|
|
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
|
|
<define name="PGAIN" value="-100"/>
|
|
<define name="DGAIN" value="-100"/>
|
|
<define name="IGAIN" value="-0"/>
|
|
</section>
|
|
|
|
<section name="JOYSTICK" prefix="BOOZ2_JOYSTICK_">
|
|
<define name="SP_PHI_COEF" value="2860"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
|
|
<define name="SP_THETA_COEF" value="2860"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
|
</section>
|
|
|
|
|
|
|
|
<makefile>
|
|
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz2.makefile
|
|
|
|
|
|
</makefile>
|
|
|
|
</airframe>
|