mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
217 lines
8.1 KiB
XML
217 lines
8.1 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Mentor Multiplex (http://www.multiplex-rc.de/)
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Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
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Tilted infrared sensor
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XBee modem in transparent mode.
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Radio PPM encoder
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-->
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<airframe name="Mentor Twog AkaModell">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0"/>
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<target name="sim" board="pc"/>
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<target name="jsbsim" board="pc"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="WIND_INFO"/>
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<define name="ALT_KALMAN"/>
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<subsystem name="radio_control" type="ppm"/>
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<!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="ahrs" type="infrared"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="navigation" type="extra"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel_0" board="twog_1.0" />
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</firmware>
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<modules main_freq="60">
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<load name="servo_switch.xml">
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<define name="SERVO_SWITCH_ON_VALUE" value="1100"/>
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<define name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
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<define name="SERVO_SWITCH_SERVO" value="SERVO_SWITCH"/>
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</load>
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<load name="sys_mon.xml"/>
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<load name="infrared_adc.xml"/>
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</modules>
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<!-- commands section -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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</commands>
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<servos>
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<servo name="AILERON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
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<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
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<servo name="THROTTLE" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="RUDDER" no="4" min="2000" neutral="1500" max="1000"/>
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<servo name="AILERON_LEFT" no="6" min="2000" neutral="1500" max="1000"/>
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<servo name="SWITCH" no="7" min="1000" neutral="1500" max="2000"/>
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</servos>
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<rc_commands>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<auto_rc_commands>
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<!-- <set command="YAW" value="@YAW"/> -->
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</auto_rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="0.3"/>
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</section>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="55" unit="deg"/>
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<define name="MAX_PITCH" value="35" unit="deg"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="511"/>
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<define name="ADC_IR2_NEUTRAL" value="516"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="LATERAL_CORRECTION" value="0.35"/>
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<define name="LONGITUDINAL_CORRECTION" value="0.35"/>
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<define name="VERTICAL_CORRECTION" value="1.0"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="-1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="11.4591560364" unit="deg"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="12.5" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="13.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="16" unit="V"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="20." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2.5" unit="m/s"/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80" unit="%"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5" unit="rad/(m/s)"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35" unit="rad"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35" unit="rad"/>
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<define name="THROTTLE_SLEW" value="0.25"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.1"/>
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<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
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<define name="PITCH_PGAIN" value="-7000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
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<!-- <define name="ROLL_RATE_GAIN" value="-1500"/> -->
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="25"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="70" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="JSBSIM_MODEL" value=""Malolo1""/>
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<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
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<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
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</section>
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</airframe>
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