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paparazzi/conf/airframes/TUDELFT/tudelft_heli450.xml
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Ewoud Smeur 4754f42dd4 documentation and heli450 update
2016-03-30 18:47:03 +02:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: Piksi http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="heli450">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem>
<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<modules>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="gps_ubx_ucenter.xml"/>
<load name="heli_swashplate_mixing.xml"/>
<load name="heli_throttle_curve.xml"/>
</modules>
<servos driver="Pwm">
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1050" neutral="1500" max="1950"/>
<servo name="LEFTFRONT" no="2" min="1050" neutral="1500" max="1950"/>
<servo name="RIGHTFRONT" no="3" min="1950" neutral="1500" max="1050"/>
<servo name="TAIL" no="4" min="1850" neutral="1600" max="1350"/>
</servos>
<commands>
<axis name="THRUST" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FMODE" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FMODE" value="@AUX2"/>
</rc_commands>
<section name="MIXING" prefix="SW_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="HR120"/>
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_COLL" value="0"/>
</section>
<command_laws>
<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
<call fun="swashplate_mixing_run(values)"/>
<set servo="THROTTLE" value="throttle_curve.throttle"/>
<set servo="BACK" value="swashplate_mixing.commands[SW_BACK]"/>
<set servo="LEFTFRONT" value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
<set servo="RIGHTFRONT" value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
<set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
</command_laws>
<heli_curves>
<curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
</heli_curves>
<section name="MISC">
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14"/>
<define name="MAG_Y_NEUTRAL" value="116"/>
<define name="MAG_Z_NEUTRAL" value="119"/>
<define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
<define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
<define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!--This airframe vibrates a lot, which causes accel measurements in excess of 1g continuously-->
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" unit="deg/s" value="280"/>
<define name="SP_MAX_Q" unit="deg/s" value="280"/>
<define name="SP_MAX_R" unit="deg/s" value="140"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<!-- 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="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="35" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
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