mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Felix Ruess
214 lines
7.7 KiB
XML
214 lines
7.7 KiB
XML
<airframe name="BOOZ2_a1">
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
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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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<!-- not needed anymore - in subsystem -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<!-- -->
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2"/>
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<define name="MAX_MOTOR" value="210"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" 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="{ 0, 0, -256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
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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="GYRO_P_NEUTRAL" value="33924"/>
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<define name="GYRO_Q_NEUTRAL" value="33417"/>
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<define name="GYRO_R_NEUTRAL" value="32809"/>
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<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32081"/>
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<define name="ACCEL_Y_NEUTRAL" value="33738"/>
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<define name="ACCEL_Z_NEUTRAL" value="32441"/>
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<define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
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<define name="MAG_X_CHAN" value="4"/>
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<define name="MAG_Y_CHAN" value="0"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
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<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
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<define name="MAG_X_SIGN" value="-1"/>
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<define name="MAG_Y_SIGN" value=" 1"/>
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<define name="MAG_Z_SIGN" value="-1"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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<define name="MAG_45_HACK" value="1"/>
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<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
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<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
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<define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="4." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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<!--
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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="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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-->
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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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<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_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" 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="0.9"/>
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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="0.9"/>
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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="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-400"/>
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<define name="PHI_DGAIN" value="-300"/>
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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="-300"/>
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<define name="THETA_IGAIN" value="-100"/>
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<define name="PSI_PGAIN" value="-380"/>
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<define name="PSI_DGAIN" value="-320"/>
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<define name="PSI_IGAIN" value="-75"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="15." 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="-500"/>
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<define name="HOVER_KD" value="-200"/>
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<define name="HOVER_KI" value="-100"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<!-- <define name="INV_M" value ="0.2"/> -->
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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="BAT">
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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="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<section name="FMS">
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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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</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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<firmware name="rotorcraft">
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<target name="ap" board="booz_1.0"/>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="actuators" type="mkk"/>
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<subsystem name="imu" type="b2_v1.0"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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</airframe>
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